From 4db358875e360467ab3dfd16a82c670a4a04d801 Mon Sep 17 00:00:00 2001 From: Zach Harel Date: Sun, 4 Jan 2026 22:46:35 -0500 Subject: [PATCH 01/18] refactor: move command creation info to the custom commands page --- src/nextftc/commands/custom-commands.md | 117 ++++++++++++++++++++++ src/nextftc/concepts/commands.md | 123 ------------------------ 2 files changed, 117 insertions(+), 123 deletions(-) diff --git a/src/nextftc/commands/custom-commands.md b/src/nextftc/commands/custom-commands.md index d5ae3be..ef33ac4 100644 --- a/src/nextftc/commands/custom-commands.md +++ b/src/nextftc/commands/custom-commands.md @@ -49,3 +49,120 @@ fun runToPosition( The `setStart`, `setUpdate`, `setIsDone`, and `setStop` methods directly map to the methods of the `Command` class. + +In general, a lambda command can be created as follows: + +:::tabs key:code +== Kotlin + +```kotlin +val myLambdaCommand = LambdaCommand() + .setStart { + // Runs on start + } + .setUpdate { + // Runs on update + } + .setStop { interrupted -> + // Runs on stop + } + .setIsDone { true } // Returns if the commmand has finished + .requires(/* subsystems the command implements */) + .setInterruptible(true) + .named("My Command") // sets the name of the command; optional +``` + +== Java + +```java +Command myLambdaCommand = new LambdaCommand() + .setStart(() -> { + // Runs on start + }) + .setUpdate(() -> { + // Runs on update + }) + .setStop(interrupted -> { + // Runs on stop + }) + .setIsDone(() -> true) // Returns if the command has finished + .requires(/* subsystems the command implements */) + .setInterruptible(true) + .named("My Command"); // sets the name of the command; optional +``` + +::: + +> [!TIP] +> All functions are completely optional. You only need to call the ones you will +> use. They can be called in any order. + +## Command Classes + +### Commands as Classes + +It is unlikely that you will need to use this very often, but you can also +create a command as a class. This is useful for cases where you need to reuse +your command a lot. An command can be created as a class as follows: + +:::tabs key:code +== Kotlin + +```kotlin +class MyCommand(): Command() { + + init { + requires(/* subsystems */) + setInterruptible(true) // this is the default, so you don't need to specify + } + + override val isDone: Boolean + get() = false // whether or not the command is done + + override fun start() { + // executed when the command begins + } + + override fun update() { + // executed on every update of the command + } + + override fun stop(interrupted: Boolean) { + // executed when the command ends + } +} +``` + +== Java + +```java +public class MyCommand extends Command { + + public MyCommand() { + requires(/* subsystems */); + setInterrptuptible(true); // this is the default, so you don't need to specify + } + + @Override + public boolean isDone() { + return false; // whether or not the command is done + } + + @Override + public void start() { + // executed when the command begins + } + + @Override + public void update() { + // executed on every update of the command + } + + @Override + public void stop(boolean interrupted) { + // executed when the command ends + } +} +``` + +::: \ No newline at end of file diff --git a/src/nextftc/concepts/commands.md b/src/nextftc/concepts/commands.md index 166da85..e1fcacc 100644 --- a/src/nextftc/concepts/commands.md +++ b/src/nextftc/concepts/commands.md @@ -33,129 +33,6 @@ Additionally, it has two more properties: class name of the command, but it can be set to anything. More information on command naming and debugging can be found later on this page. -## Creating Commands - -There are two ways to create a command: a `LambdaCommand` and by creating your -own command class. - -### Lambda Commands - -A lambda command is the main way to create a command in NextFTC. A lambda -command can be created as follows: - -:::tabs key:code -== Kotlin - -```kotlin -val myLambdaCommand = LambdaCommand() - .setStart { - // Runs on start - } - .setUpdate { - // Runs on update - } - .setStop { interrupted -> - // Runs on stop - } - .setIsDone { true } // Returns if the commmand has finished - .requires(/* subsystems the command implements */) - .setInterruptible(true) - .named("My Command") // sets the name of the command; optional -``` - -== Java - -```java -Command myLambdaCommand = new LambdaCommand() - .setStart(() -> { - // Runs on start - }) - .setUpdate(() -> { - // Runs on update - }) - .setStop(interrupted -> { - // Runs on stop - }) - .setIsDone(() -> true) // Returns if the command has finished - .requires(/* subsystems the command implements */) - .setInterruptible(true) - .named("My Command"); // sets the name of the command; optional -``` - -::: - -> [!TIP] -> All functions are completely optional. You only need to call the ones you will -> use. They can be called in any order. - -### Commands as Classes - -It is unlikely that you will need to use this very often, but you can also -create a command as a class. This is useful for cases where you need to reuse -your command a lot. An command can be created as a class as follows: - -:::tabs key:code -== Kotlin - -```kotlin -class MyCommand(): Command() { - - init { - requires(/* subsystems */) - setInterruptible(true) // this is the default, so you don't need to specify - } - - override val isDone: Boolean - get() = false // whether or not the command is done - - override fun start() { - // executed when the command begins - } - - override fun update() { - // executed on every update of the command - } - - override fun stop(interrupted: Boolean) { - // executed when the command ends - } -} -``` - -== Java - -```java -public class MyCommand extends Command { - - public MyCommand() { - requires(/* subsystems */); - setInterrptuptible(true); // this is the default, so you don't need to specify - } - - @Override - public boolean isDone() { - return false; // whether or not the command is done - } - - @Override - public void start() { - // executed when the command begins - } - - @Override - public void update() { - // executed on every update of the command - } - - @Override - public void stop(boolean interrupted) { - // executed when the command ends - } -} -``` - -::: - ## Executing Commands There are two ways to schedule a command. You can either call: From ec39fdf84baa92734e23a07abdd31c64d8a0df9d Mon Sep 17 00:00:00 2001 From: Zach Harel Date: Sun, 4 Jan 2026 22:46:46 -0500 Subject: [PATCH 02/18] feat: add documentation for more command utilities --- src/nextftc/commands/utilities.md | 106 ++++++++++++++++++++++------- src/nextftc/concepts/subsystems.md | 35 ++++++++++ 2 files changed, 116 insertions(+), 25 deletions(-) diff --git a/src/nextftc/commands/utilities.md b/src/nextftc/commands/utilities.md index 4b6cd58..8b5030c 100644 --- a/src/nextftc/commands/utilities.md +++ b/src/nextftc/commands/utilities.md @@ -2,15 +2,22 @@ NextFTC has a bunch of utility commands to help you simplify your code! -## `InstantCommand` +## Instant Commands An `InstantCommand` runs a function and ends instantly. +The `instant` utility function can be used to create an `InstantCommand`. :::tabs key:code == Kotlin ```kotlin -InstantCommand { +instant("name") { + // code here +} + +// or + +instant { // code here } ``` @@ -18,9 +25,51 @@ InstantCommand { == Java ```java -new InstantCommand(() -> { +instant("name", () -> { // code here }) + +// or + +instant(() -> { + // code here +}); +``` + +::: + +## Run Commands + +A run command is similar to an `InstantCommand`, but it runs continuously until it is interrupted. +There is no specific `RunCommand` class; +instead, the `run` utility function can be used to create a run command. + +:::tabs key:code + +== Kotlin +```kotlin +run("name") { + // code here +} + +// or + +run { + // code here +} +``` + +== Java +```java +run("name", () -> { + // code here +}); + +// or + +run(() -> { + // code here +}); ``` ::: @@ -44,75 +93,82 @@ new NullCommand(parameter1, parameter2) ::: -## `ForcedParallelCommand` +## `proxy` -A `ForcedParallelCommand` schedules another command and instantly ends. This can be useful in `SequentialGroups` where you want to start a command and move on. +A proxy command schedules another command and instantly ends. +This can be useful in `SequentialGroups` where you want to start a command and move on. :::tabs key:code == Kotlin ```kotlin -ForcedParallelCommand(command) +proxy(command) ``` == Java ```java -new ForcedParallelCommand(command) +proxy(command) ``` ::: -Alternatively, you can used the `.forcedParallel()` utility: +Alternatively, you can used the `.asProxy()` utility: :::tabs key:code == Kotlin ```kotlin -command.forcedParallel() +command.asProxy() ``` == Java ```java -command.forcedParallel() +command.asProxy() ``` ::: -## `PerpetualCommand` +## `repeatedly` -A `PerpetualCommand` wraps another command and never finishes unless it is interrupted. It simply ignores the `isDone` condition on the command it wraps. +The `repeatedly` decorator can be used to create a command that runs until it is interrupted or stopped, +repeatedly executing a given block of code. -:::tabs key:code -== Kotlin +If `isDone` is true, the command will restart, causing `start` to be called again. +This will happen infinitely until the command is interrupted, +or stopped as part of a `ParallelRaceGroup` or `ParallelDeadlineGroup`. + +::: tabs key:code +== Kotlin ```kotlin -PerpetualCommand(commandToWrap) +command.repeatedly() ``` == Java - ```java -new PerpetualCommand(commandToWrap) +command.repeatedly(); ``` -::: +::: -Alternatively, you can use the `.perpetually()` utility: +## `until` -:::tabs key:code -== Kotlin +The `until` decorator can be used to create a command that runs until a given condition is true. +::: tabs key:code + +== Kotlin ```kotlin -commandToWrap.perpetually() +command.until { /* condition */ } ``` == Java - ```java -commandToWrap.perpetually() +command.until(() -> { /* condition */ }); ``` -::: \ No newline at end of file +::: + diff --git a/src/nextftc/concepts/subsystems.md b/src/nextftc/concepts/subsystems.md index ce5dad8..005d35b 100644 --- a/src/nextftc/concepts/subsystems.md +++ b/src/nextftc/concepts/subsystems.md @@ -105,6 +105,41 @@ public Command pivotRight = new SetPosition(pivotServo, 0.0).requires(pivotServo ::: +## Subsystem Command Factories + +Within a `Subsystem`, you can use the builtin `instant` and `run` functions +to create commands that automatically require the subsystem. + +:::tabs key:code + +== Kotlin + +```kotlin +object MySubsystem : Subsystem { + private val motor = MotorEx("motor") + + val stopMotor = instant { + motor.power = 0.0 + } // automatically requires this +} +``` + +== Java + +```java +public class MySubsystem implements Subsystem { + public static MySubsystem INSTANCE = new MySubsystem(); + + private MotorEx motor = new MotorEx("motor"); + + public Command stopMotor = instant(() -> { + motor.setPower(0.0); + }); // automatically requires this +} +``` + +::: + ## Subsystem Groups NextFTC provides a `SubsystemGroup` class that can be used to group multiple From debc90ccf8eb38ae4d8b7df60800358b6a755efe Mon Sep 17 00:00:00 2001 From: Zach Harel Date: Fri, 24 Jul 2026 16:07:36 -0400 Subject: [PATCH 03/18] update for v2 --- .gca/actions/ActionGroups.kt | 97 - .gca/actions/Actions.kt | 155 - .gca/actions/ActionsFtc.kt | 114 - .gca/actions/TrajectoryActionBuilder.kt | 965 ----- .github/workflows/deploy.yaml | 50 - .gitignore | 174 +- .idea/misc.xml | 6 + .idea/modules.xml | 8 + .idea/vcs.xml | 6 + .idea/workspace.xml | 288 ++ .vitepress/config.mts | 90 - .vitepress/sidebar/bindings.mts | 22 - .vitepress/sidebar/control.mts | 64 - .vitepress/sidebar/extensions.mts | 32 - .vitepress/sidebar/guide.mts | 31 - .vitepress/sidebar/nextftc.mts | 124 - .vitepress/theme/custom.css | 7 - .vitepress/theme/index.mts | 11 - .vscode/extensions.json | 4 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Each action is run one after the other. - * When an action completes, the next one is immediately run. This action completes when the last action completes. - */ -data class SequentialAction( - val initialActions: List -) : Action { - var actions = initialActions.flatMap { - if (it is SequentialAction) it.initialActions else listOf(it) - } - private set - - constructor(vararg actions: Action) : this(actions.asList()) - - override tailrec fun run(p: TelemetryPacket): Boolean { - if (actions.isEmpty()) { - return false - } - - return if (actions.first().run(p)) { - true - } else { - actions = actions.drop(1) - run(p) - } - } - - override fun preview(fieldOverlay: Canvas) { - for (a in initialActions) { - a.preview(fieldOverlay) - } - } -} - -/** - * Action combinator that executes the action group [initialActions] in parallel. Each call to [run] on this action - * calls [run] on _every_ live child action in the order provided. Completed actions are removed from the rotation - * and _do not_ prevent the completion of other actions. This action completes when all of [initialActions] have. - */ -data class ParallelAction( - val initialActions: List -) : Action { - var actions = initialActions.flatMap { - if (it is ParallelAction) it.initialActions else listOf(it) - } - private set - - constructor(vararg actions: Action) : this(actions.asList()) - - override fun run(p: TelemetryPacket): Boolean { - actions = actions.filter { it.run(p) } - return actions.isNotEmpty() - } - - override fun preview(fieldOverlay: Canvas) { - for (a in initialActions) { - a.preview(fieldOverlay) - } - } -} - -/** - * Action combinator that executes the action group [initialActions] in parallel. Each call to [run] on this action - * calls [run] on _every_ live child action in the order provided. Once one action ends, all other actions are ended. - */ -class RaceAction( - initialActions: List -) : Action { - var actions = initialActions - private set - var interrupting = false - - constructor(vararg actions: Action) : this(actions.asList()) - - override fun run(p: TelemetryPacket): Boolean { - val remaining = actions.filter { it.run(p) } - if (interrupting) { - return remaining.isNotEmpty() - } else if (actions.size != remaining.size) { - interrupting = true - actions = remaining.filter { it is Interruptible } - .map { (it as Interruptible).onInterrupt() } - } - return true - } - - override fun preview(fieldOverlay: Canvas) { - for (a in actions) { - a.preview(fieldOverlay) - } - } -} diff --git a/.gca/actions/Actions.kt b/.gca/actions/Actions.kt deleted file mode 100644 index 71cd13a..0000000 --- a/.gca/actions/Actions.kt +++ /dev/null @@ -1,155 +0,0 @@ -package com.acmerobotics.roadrunner.actions - -import com.acmerobotics.dashboard.canvas.Canvas -import com.acmerobotics.dashboard.telemetry.TelemetryPacket -import kotlin.time.ComparableTimeMark -import kotlin.time.Duration -import kotlin.time.Duration.Companion.nanoseconds -import kotlin.time.Duration.Companion.seconds -import kotlin.time.DurationUnit -import kotlin.time.TimeSource -import kotlin.time.TimeSource.Monotonic.markNow -import kotlin.time.toJavaDuration -import kotlin.time.toKotlinDuration - -/** - * Concurrent task for cooperative multitasking with some FTC dashboard hooks. Actions may have a mutable state. - */ -@JvmDefaultWithoutCompatibility -fun interface Action { - /** - * Runs a single uninterruptible block. Returns true if the action should run again and false if it has completed. - * A telemetry packet [p] is provided to record any information on the action's progress. - */ - fun run(p: TelemetryPacket): Boolean - - /** - * Draws a preview of the action on canvas [fieldOverlay]. - */ - fun preview(fieldOverlay: Canvas) {} - - /** - * The action's requirements (optional). - * It is up to the action queue to resolve requirements. - */ - val requirements: Set get() = emptySet() - - /** - * Returns a new action that executes this action followed by [a]. - */ - fun then(a: Action) = SequentialAction(this, a) - fun then(f: InstantFunction) = SequentialAction(this, InstantAction(f)) - fun then(a: () -> Action) = SequentialAction(this, a()) - - /** - * Returns a new action that executes this action in parallel with [a]. - */ - fun with(a: Action) = ParallelAction(this, a) - fun with(f: InstantFunction) = ParallelAction(this, InstantAction(f)) - fun with(a: () -> Action) = ParallelAction(this, a()) - - /** - * Returns a new action that executes this action in parallel with [a]. - */ - fun race(a: Action) = RaceAction(this, a) - fun race(f: InstantFunction) = RaceAction(this, InstantAction(f)) - fun race(a: () -> Action) = RaceAction(this, a()) - - /** - * Returns a new action that waits [dt] seconds before executing this action. - */ - fun delay(dt: Double) = SleepAction(dt).then(this) - - /** - * Returns an interruptible copy of this action, with [onInterruption] occurring on interrupt. - */ - fun interruptible(onInterruption: Action) = object : Interruptible { - override fun onInterrupt(): Action = onInterruption - - override fun run(p: TelemetryPacket): Boolean = this@Action.run(p) - - override fun preview(fieldOverlay: Canvas) = this@Action.preview(fieldOverlay) - } - fun interruptible(onInterruption: InstantFunction) = interruptible(InstantAction(onInterruption)) - fun interruptible(onInterruption: () -> Action) = interruptible(onInterruption()) -} - -open class ActionEx @JvmOverloads constructor( - private val initBlock: (TelemetryPacket) -> Unit = { }, - private val loopBlock: (TelemetryPacket) -> Boolean = { false }, - private val endBlock: (TelemetryPacket) -> Unit = { } -) : Action { - - open fun init(packet: TelemetryPacket) = initBlock(packet) - open fun loop(packet: TelemetryPacket) = loopBlock(packet) - open fun end(packet: TelemetryPacket) = endBlock(packet) - - private val sequential = SequentialAction( - { init(it).let { false } }, - { loop(it) }, - { end(it).let { false } } - ) - - final override fun run(packet: TelemetryPacket) = sequential.run(packet) - - fun withInit(initBlock: (TelemetryPacket) -> Unit) = ActionEx(initBlock, loopBlock, endBlock) - fun withLoop(loopBlock: (TelemetryPacket) -> Boolean) = ActionEx(initBlock, loopBlock, endBlock) - fun withEnd(endBlock: (TelemetryPacket) -> Unit) = ActionEx(initBlock, loopBlock, endBlock) -} - -/** - * Utility object for action-related functionality. - */ -object Actions { - /** - * Returns the current time in seconds. - */ - @JvmStatic fun now() = System.nanoTime().nanoseconds.toDouble(DurationUnit.SECONDS) -} - -/** - * Primitive sleep action that stalls for [dt]. - */ -data class SleepAction(val dt: Duration) : ActionEx() { - constructor(dt: java.time.Duration) : this(dt.toKotlinDuration()) - constructor(dt: Double) : this(dt.seconds) - - private lateinit var start: ComparableTimeMark - - override fun init(packet: TelemetryPacket) { - start = markNow() - } - - override fun loop(packet: TelemetryPacket) = (start.elapsedNow() - dt).isPositive() -} -fun interface InstantFunction { - fun run() -} - -/** - * Instant action that executes [f] immediately. - */ -class InstantAction(val f: InstantFunction) : Action { - override fun run(p: TelemetryPacket): Boolean { - f.run() - return false - } -} - -/** - * Null action that does nothing. - */ -class NullAction : Action { - override fun run(p: TelemetryPacket) = false -} - -/** - * An action that can be interrupted, providing a specific action to execute upon interruption. - */ -interface Interruptible : Action { - - /** - * Returns the action to execute upon interruption. - */ - fun onInterrupt(): Action -} diff --git a/.gca/actions/ActionsFtc.kt b/.gca/actions/ActionsFtc.kt deleted file mode 100644 index 81caa61..0000000 --- a/.gca/actions/ActionsFtc.kt +++ /dev/null @@ -1,114 +0,0 @@ -@file:JvmName("Actions") - -package com.acmerobotics.roadrunner.ftc - -import android.content.Context -import com.acmerobotics.dashboard.FtcDashboard -import com.acmerobotics.dashboard.canvas.Canvas -import com.acmerobotics.dashboard.telemetry.TelemetryPacket -import com.acmerobotics.roadrunner.actions.Action -import com.acmerobotics.roadrunner.actions.Interruptible -import com.qualcomm.ftccommon.FtcEventLoop -import com.qualcomm.ftccommon.FtcRobotControllerSettingsActivity -import com.qualcomm.robotcore.eventloop.opmode.OpMode -import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier -import org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop - -/** - * Run [a] to completion in a blocking loop. - */ -fun runBlocking(a: Action) { - val dash = FtcDashboard.getInstance() - val c = Canvas() - a.preview(c) - - var b = true - while (b && !Thread.currentThread().isInterrupted) { - val p = TelemetryPacket() - p.fieldOverlay().operations.addAll(c.operations) - - b = a.run(p) - - dash.sendTelemetryPacket(p) - } -} - -/** - * Singleton object responsible for managing and updating a queue of concurrent asynchronous tasks (actions). - * Provides methods to enqueue actions and process the queue during the robot's main loop. - * - * Implements `OpModeManagerNotifier.Notifications` to manage the actions' lifecycle across different OpMode stages. - */ -object ActionRunner : OpModeManagerNotifier.Notifications { - private val dash = lazy { FtcDashboard.getInstance() } - private val _actions = ArrayDeque() - - /** - * The actions currently being run. - */ - @JvmStatic - @get:JvmName("actions") - val actions: List - get() = _actions - - /** - * Adds [action] to the run queue. - */ - @JvmStatic - fun run(action: Action) { - val used = _actions.filter { it.requirements.any { req -> req in action.requirements} } - val triggerred = used.mapNotNull { when (it) { - is Interruptible -> it.onInterrupt() - else -> null - } } - _actions.removeAll(used) - _actions.addAll(triggerred) - _actions.addLast(action) - } - - /** - * Adds all actions in [actions] to the run queue. - */ - @JvmStatic - fun run(actions: Collection) { - actions.forEach(::run) - } - - /** - * Adds all actions in [actions] to the run queue. - */ - @JvmStatic - fun run(vararg actions: Action) { - actions.forEach(::run) - } - - /** - * Updates the run queue. - * MUST be called at the end of every loop. - */ - @JvmStatic - fun update() { - val p = TelemetryPacket() - _actions.retainAll { - it.run(p) - } - dash.value.sendTelemetryPacket(p) - } - - @OnCreateEventLoop - @JvmStatic - fun register(context: Context, eventLoop: FtcEventLoop) { - eventLoop.opModeManager.registerListener(this) - } - - override fun onOpModePreInit(p0: OpMode?) { - require(dash.isInitialized()) - require(_actions.isEmpty()) - } - - override fun onOpModePreStart(p0: OpMode?) {} - - override fun onOpModePostStop(p0: OpMode?) { - _actions.clear() - } -} diff --git a/.gca/actions/TrajectoryActionBuilder.kt b/.gca/actions/TrajectoryActionBuilder.kt deleted file mode 100644 index c95dab2..0000000 --- a/.gca/actions/TrajectoryActionBuilder.kt +++ /dev/null @@ -1,965 +0,0 @@ -package com.acmerobotics.roadrunner.actions - -import com.acmerobotics.roadrunner.geometry.Arclength -import com.acmerobotics.roadrunner.geometry.DualNum -import com.acmerobotics.roadrunner.geometry.Pose2d -import com.acmerobotics.roadrunner.geometry.Pose2dDual -import com.acmerobotics.roadrunner.geometry.Rotation2d -import com.acmerobotics.roadrunner.geometry.Rotation2dDual -import com.acmerobotics.roadrunner.geometry.Vector2d -import com.acmerobotics.roadrunner.geometry.Vector2dDual -import com.acmerobotics.roadrunner.profiles.AccelConstraint -import com.acmerobotics.roadrunner.profiles.VelConstraint -import com.acmerobotics.roadrunner.paths.IdentityPoseMap -import com.acmerobotics.roadrunner.paths.MappedPosePath -import com.acmerobotics.roadrunner.paths.PoseMap -import com.acmerobotics.roadrunner.trajectories.TimeTrajectory -import com.acmerobotics.roadrunner.trajectories.TimeTurn -import com.acmerobotics.roadrunner.trajectories.Trajectory -import com.acmerobotics.roadrunner.trajectories.TrajectoryBuilder -import com.acmerobotics.roadrunner.trajectories.TrajectoryBuilderParams -import com.acmerobotics.roadrunner.trajectories.TurnConstraints - -private fun seqCons(hd: Action, tl: Action) = SequentialAction(hd, tl).withoutNulls().let { - if (it.actions.size == 1) it.actions.first() else it -} - -fun SequentialAction.withoutNulls(): SequentialAction = SequentialAction(actions.filter { it !is NullAction }) -fun ParallelAction.withoutNulls(): ParallelAction = ParallelAction(actions.filter { it !is NullAction }) - -private sealed class MarkerFactory( - val segmentIndex: Int, -) { - abstract fun make(t: TimeTrajectory, segmentDisp: Double): Action -} - -private class TimeMarkerFactory(segmentIndex: Int, val dt: Double, val a: Action) : MarkerFactory(segmentIndex) { - override fun make(t: TimeTrajectory, segmentDisp: Double) = - seqCons(SleepAction(t.profile.inverse(segmentDisp) + dt), a) -} - -private class DispMarkerFactory(segmentIndex: Int, val ds: Double, val a: Action) : MarkerFactory(segmentIndex) { - override fun make(t: TimeTrajectory, segmentDisp: Double) = - seqCons(SleepAction(t.profile.inverse(segmentDisp + ds)), a) -} - -fun interface TurnActionFactory { - fun make(t: TimeTurn): Action -} - -fun interface TrajectoryActionFactory { - fun make(t: Trajectory<*>): Action -} - -/** - * Builder that combines trajectories, turns, and other actions. - */ -class TrajectoryActionBuilder private constructor( - // constants - val turnActionFactory: TurnActionFactory, - val trajectoryActionFactory: TrajectoryActionFactory, - val trajectoryBuilderParams: TrajectoryBuilderParams, - val beginEndVel: Double, - val baseTurnConstraints: TurnConstraints, - val baseVelConstraint: VelConstraint, - val baseAccelConstraint: AccelConstraint, - val poseMap: PoseMap, - // vary throughout - private val tb: TrajectoryBuilder, - private val n: Int, - // lastPose, lastTangent are post-mapped - private val lastPoseUnmapped: Pose2d, - private val lastPose: Pose2d, - private val lastTangent: Rotation2d, - private val ms: List, - private val cont: (Action) -> Action, -) { - @JvmOverloads - constructor( - turnActionFactory: TurnActionFactory, - trajectoryActionFactory: TrajectoryActionFactory, - trajectoryBuilderParams: TrajectoryBuilderParams, - beginPose: Pose2d, - beginEndVel: Double, - baseTurnConstraints: TurnConstraints, - baseVelConstraint: VelConstraint, - baseAccelConstraint: AccelConstraint, - poseMap: PoseMap = IdentityPoseMap, - ) : - this( - turnActionFactory, - trajectoryActionFactory, - trajectoryBuilderParams, - beginEndVel, - baseTurnConstraints, - baseVelConstraint, - baseAccelConstraint, - poseMap, - TrajectoryBuilder( - trajectoryBuilderParams, - beginPose, beginEndVel, - baseVelConstraint, baseAccelConstraint, - poseMap, - ), - 0, - beginPose, - poseMap.map(beginPose), - poseMap.map(beginPose).heading, - emptyList(), - { it }, - ) - - private constructor( - ab: TrajectoryActionBuilder, - tb: TrajectoryBuilder, - n: Int, - lastPoseUnmapped: Pose2d, - lastPose: Pose2d, - lastTangent: Rotation2d, - ms: List, - cont: (Action) -> Action, - ) : - this( - ab.turnActionFactory, - ab.trajectoryActionFactory, - ab.trajectoryBuilderParams, - ab.beginEndVel, - ab.baseTurnConstraints, - ab.baseVelConstraint, - ab.baseAccelConstraint, - ab.poseMap, - tb, - n, - lastPoseUnmapped, - lastPose, - lastTangent, - ms, - cont - ) - - /** - * Ends the current trajectory in progress. No-op if no trajectory segments are pending. - */ - fun endTrajectory() = - if (n == 0) { - require(ms.isEmpty()) { "Cannot end trajectory with pending markers" } - - this - } else { - val ts = tb.build() - val endPoseUnmapped = when (ts.last().path) { - is MappedPosePath -> (ts.last().path as MappedPosePath).basePath.end(2) - else -> ts.last().path.end(2) - }.value() - val end = ts.last().path.end(2) - val endPose = end.value() - val endTangent = end.velocity().value().linearVel.angleCast() - TrajectoryActionBuilder( - this, - TrajectoryBuilder( - trajectoryBuilderParams, - endPoseUnmapped, - beginEndVel, - baseVelConstraint, - baseAccelConstraint, - poseMap, - ), - 0, - endPoseUnmapped, - endPose, - endTangent, - emptyList() - ) { tail -> - val (aNew, msRem) = ts.zip(ts.scan(0) { acc, t -> acc + t.offsets.size - 1 }).foldRight( - Pair(tail, ms) - ) { (traj, offset), (acc, ms) -> - val timeTraj = TimeTrajectory(traj) - val actions = mutableListOf(seqCons(trajectoryActionFactory.make(timeTraj), acc)) - val msRem = mutableListOf() - for (m in ms) { - val i = m.segmentIndex - offset - if (i >= 0) { - actions.add(m.make(timeTraj, traj.offsets[i])) - } else { - msRem.add(m) - } - } - - when (actions.size) { - 0 -> Pair(NullAction(), msRem) - 1 -> Pair(actions.first(), msRem) - else -> Pair(ParallelAction(actions).withoutNulls(), msRem) - } - } - - require(msRem.isEmpty()) { "Unresolved markers" } - - cont(aNew) - } - } - - /** - * Stops the current trajectory (like [endTrajectory]) and adds action [a] next. - */ - fun stopAndAdd(a: Action): TrajectoryActionBuilder { - val b = endTrajectory() - return TrajectoryActionBuilder(b, b.tb, b.n, b.lastPoseUnmapped, b.lastPose, b.lastTangent, b.ms) { tail -> - b.cont(seqCons(a, tail)) - } - } - fun stopAndAdd(f: InstantFunction) = stopAndAdd(InstantAction(f)) - - /** - * Waits [t] seconds. - */ - fun waitSeconds(t: Double): TrajectoryActionBuilder { - require(t >= 0.0) { "Time ($t) must be non-negative" } - - return stopAndAdd(SleepAction(t)) - } - - /** - * Schedules action [a] to execute in parallel starting at a displacement [ds] after the last trajectory segment. - * The action start is clamped to the span of the current trajectory. - * - * Cannot be called without an applicable pending trajectory. - */ - // TODO: Should calling this without an applicable trajectory implicitly begin an empty trajectory and execute the - // action immediately? - fun afterDisp(ds: Double, a: Action): TrajectoryActionBuilder { - require(ds >= 0.0) { "Displacement ($ds) must be non-negative" } - - return TrajectoryActionBuilder( - this, tb, n, lastPoseUnmapped, lastPose, lastTangent, - ms + listOf(DispMarkerFactory(n, ds, a)), cont - ) - } - fun afterDisp(ds: Double, f: InstantFunction) = afterDisp(ds, InstantAction(f)) - - /** - * Schedules action [a] to execute in parallel starting [dt] seconds after the last trajectory segment, turn, or - * other action. - */ - fun afterTime(dt: Double, a: Action): TrajectoryActionBuilder { - require(dt >= 0.0) { "Time ($dt) must be non-negative" } - - return if (n == 0) { - TrajectoryActionBuilder(this, tb, 0, lastPoseUnmapped, lastPose, lastTangent, emptyList()) { tail -> - val m = seqCons(SleepAction(dt), a) - if (tail is NullAction) { - cont(m) - } else { - cont(ParallelAction(tail, m)) - } - } - } else { - TrajectoryActionBuilder( - this, tb, n, lastPoseUnmapped, lastPose, lastTangent, - ms + listOf(TimeMarkerFactory(n, dt, a)), cont - ) - } - } - fun afterTime(dt: Double, f: InstantFunction) = afterTime(dt, InstantAction(f)) - - /** - * Sets the starting tangent of the next path segment. - * See [RoadRunner docs](https://rr.brott.dev/docs/v1-0/guides/tangents/). - */ - fun setTangent(r: Rotation2d) = - TrajectoryActionBuilder(this, tb.setTangent(r), n, lastPoseUnmapped, lastPose, lastTangent, ms, cont) - - /** - * Sets the starting tangent of the next path segment. - * See [RoadRunner docs](https://rr.brott.dev/docs/v1-0/guides/tangents/). - */ - fun setTangent(r: Double) = setTangent(Rotation2d.exp(r)) - - /** - * Reverses the next path segment; actually a call to [setTangent(Math.PI)][setTangent]! - */ - fun setReversed(reversed: Boolean) = - TrajectoryActionBuilder(this, tb.setReversed(reversed), n, lastPoseUnmapped, lastPose, lastTangent, ms, cont) - - /** - * Turns [angle] radians. - */ - @JvmOverloads - fun turn(angle: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder { - val b = endTrajectory() - val mappedAngle = - poseMap.map( - Pose2dDual( - Vector2dDual.constant(b.lastPose.position, 2), - Rotation2dDual.constant(b.lastPose.heading, 2) + DualNum(listOf(0.0, angle)) - ) - ).heading.velocity().value() - val b2 = b.stopAndAdd( - turnActionFactory.make( - TimeTurn(b.lastPose, mappedAngle, turnConstraintsOverride ?: baseTurnConstraints) - ) - ) - val lastPoseUnmapped = Pose2d(b2.lastPoseUnmapped.position, b2.lastPoseUnmapped.heading + angle) - val lastPose = Pose2d(b2.lastPose.position, b2.lastPose.heading + mappedAngle) - val lastTangent = b2.lastTangent + mappedAngle - return TrajectoryActionBuilder( - b2, - TrajectoryBuilder( - trajectoryBuilderParams, - lastPoseUnmapped, - beginEndVel, - baseVelConstraint, - baseAccelConstraint, - poseMap - ), - b2.n, lastPoseUnmapped, lastPose, lastTangent, b2.ms, b2.cont - ) - } - /** - * Turns to face heading [heading]. - */ - @JvmOverloads - fun turnTo(heading: Rotation2d, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder { - val b = endTrajectory() - return b.turn(heading - b.lastPose.heading, turnConstraintsOverride) - } - @JvmOverloads - fun turnTo(heading: Double, turnConstraintsOverride: TurnConstraints? = null) = - turnTo(Rotation2d.exp(heading), turnConstraintsOverride) - - /** - * Adds a line segment that goes forward [ds] in the current direction. - */ - @JvmOverloads - fun forward( - ds: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forward( - ds, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes forward [ds] while maintaining current heading. - * Equivalent to [forward]. - */ - @JvmOverloads - fun forwardConstantHeading( - ds: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forwardConstantHeading( - ds, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes forward [ds], - * changing heading from current to [heading] using linear interpolation. - */ - @JvmOverloads - fun forwardLinearHeading( - ds: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forwardLinearHeading( - ds, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes forward [ds], - * changing heading from current to [heading] using linear interpolation. - */ - @JvmOverloads - fun forwardLinearHeading( - ds: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forwardLinearHeading( - ds, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes forward [ds], - * changing heading from current to [heading] using spline interpolation. - */ - @JvmOverloads - fun forwardSplineHeading( - ds: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forwardSplineHeading( - ds, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes forward [ds], - * changing heading from current to [heading] using spline interpolation. - */ - @JvmOverloads - fun forwardSplineHeading( - ds: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.forwardSplineHeading( - ds, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX]. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - */ - @JvmOverloads - fun lineToX( - posX: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToX( - posX, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX]. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - * Equivalent to [lineToX]. - */ - @JvmOverloads - fun lineToXConstantHeading( - posX: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToXConstantHeading( - posX, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX], - * while changing heading from current to [heading] using linear interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - */ - @JvmOverloads - fun lineToXLinearHeading( - posX: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToXLinearHeading( - posX, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX], - * while changing heading from current to [heading] using linear interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - */ - @JvmOverloads - fun lineToXLinearHeading( - posX: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToXLinearHeading( - posX, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX], - * while changing heading from current to [heading] using spline interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - */ - @JvmOverloads - fun lineToXSplineHeading( - posX: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToXSplineHeading( - posX, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to x-coordinate [posX], - * while changing heading from current to [heading] using spline interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the x-axis, this throws an error. - */ - @JvmOverloads - fun lineToXSplineHeading( - posX: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToXSplineHeading( - posX, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY]. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - */ - @JvmOverloads - fun lineToY( - posY: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToY( - posY, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY]. - * * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - * Equivalent to [lineToY]. - */ - @JvmOverloads - fun lineToYConstantHeading( - posY: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToYConstantHeading( - posY, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY], - * while changing heading from current to [heading] using linear interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - */ - @JvmOverloads - fun lineToYLinearHeading( - posY: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToYLinearHeading( - posY, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY], - * while changing heading from current to [heading] using linear interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - */ - @JvmOverloads - fun lineToYLinearHeading( - posY: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToYLinearHeading( - posY, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY], - * while changing heading from current to [heading] using spline interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - */ - @JvmOverloads - fun lineToYSplineHeading( - posY: Double, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToYSplineHeading( - posY, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to y-coordinate [posY], - * while changing heading from current to [heading] using spline interpolation. - * The robot will continue traveling in the direction it is currently in; - * if the robot is perpendicular to the y-axis, this throws an error. - */ - @JvmOverloads - fun lineToYSplineHeading( - posY: Double, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.lineToYSplineHeading( - posY, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos]. - */ - @JvmOverloads - fun strafeTo( - pos: Vector2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeTo( - pos, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos]. - * Equivalent to [strafeTo]. - */ - @JvmOverloads - fun strafeToConstantHeading( - pos: Vector2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeToConstantHeading( - pos, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos], - * changing heading from current to [heading] using linear interpolation. - */ - @JvmOverloads - fun strafeToLinearHeading( - pos: Vector2d, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeToLinearHeading( - pos, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos], - * changing heading from current to [heading] using linear interpolation. - */ - @JvmOverloads - fun strafeToLinearHeading( - pos: Vector2d, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeToLinearHeading( - pos, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos], - * changing heading from current to [heading] using spline interpolation. - */ - @JvmOverloads - fun strafeToSplineHeading( - pos: Vector2d, - heading: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeToSplineHeading( - pos, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a line segment that goes to [pos], - * changing heading from current to [heading] using spline interpolation. - */ - @JvmOverloads - fun strafeToSplineHeading( - pos: Vector2d, - heading: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.strafeToSplineHeading( - pos, heading, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pos] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending [pos] and [tangent]. - */ - @JvmOverloads - fun splineTo( - pos: Vector2d, - tangent: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineTo( - pos, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pos] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending [pos] and [tangent]. - */ - @JvmOverloads - fun splineTo( - pos: Vector2d, - tangent: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineTo( - pos, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pos] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending [pos] and [tangent]. - * The robot's heading remains constant - * as opposed to matching the tangent. - */ - @JvmOverloads - fun splineToConstantHeading( - pos: Vector2d, - tangent: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToConstantHeading( - pos, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pos] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending [pos] and [tangent]. - * The robot's heading remains constant - * as opposed to matching the tangent. - */ - @JvmOverloads - fun splineToConstantHeading( - pos: Vector2d, - tangent: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToConstantHeading( - pos, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pose.position][pose] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending position and [tangent]. - * The robot's heading linearly interpolates from its current heading - * to [pose.heading][pose]. - */ - @JvmOverloads - fun splineToLinearHeading( - pose: Pose2d, - tangent: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToLinearHeading( - pose, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pose.position][pose] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending position and [tangent]. - * The robot's heading linearly interpolates from its current heading - * to [pose.heading][pose]. - */ - @JvmOverloads - fun splineToLinearHeading( - pose: Pose2d, - tangent: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToLinearHeading( - pose, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pose.position][pose] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending position and [tangent]. - * The robot's heading interpolates from its current heading - * to [pose.heading][pose] using spline interpolation. - */ - @JvmOverloads - fun splineToSplineHeading( - pose: Pose2d, - tangent: Rotation2d, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToSplineHeading( - pose, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Adds a curved path segment using quintic Hermite splines - * that goes to [pose.position][pose] with an end tangent of [tangent]. - * The shape of the curve is based off of the starting position and tangent - * as well as the ending position and [tangent]. - * The robot's heading interpolates from its current heading - * to [pose.heading][pose] using spline interpolation. - */ - @JvmOverloads - fun splineToSplineHeading( - pose: Pose2d, - tangent: Double, - velConstraintOverride: VelConstraint? = null, - accelConstraintOverride: AccelConstraint? = null - ) = TrajectoryActionBuilder( - this, - tb.splineToSplineHeading( - pose, tangent, velConstraintOverride, accelConstraintOverride - ), - n + 1, lastPoseUnmapped, lastPose, lastTangent, ms, cont - ) - - /** - * Creates a new builder with the same settings at the current pose, tangent. - */ - fun fresh() = endTrajectory().let { - TrajectoryActionBuilder( - it.turnActionFactory, - it.trajectoryActionFactory, - it.trajectoryBuilderParams, - it.lastPoseUnmapped, - it.beginEndVel, it.baseTurnConstraints, it.baseVelConstraint, it.baseAccelConstraint, - it.poseMap - ).setTangent(it.lastTangent) - } - - /** - * Returns an Action object that follows the full sequence. - */ - fun build(): Action { - return endTrajectory().cont(NullAction()) - } -} \ No newline at end of file diff --git a/.github/workflows/deploy.yaml b/.github/workflows/deploy.yaml deleted file mode 100644 index bfcbb69..0000000 --- a/.github/workflows/deploy.yaml +++ /dev/null @@ -1,50 +0,0 @@ -name: Deploy VitePress to GitHub Pages - -on: - push: - branches: ["main"] - workflow_dispatch: - -permissions: - contents: read - pages: write - id-token: write - -concurrency: - group: "pages" - cancel-in-progress: false - -jobs: - build: - environment: - name: github-pages - url: ${{ steps.deployment.outputs.page_url }} - runs-on: ubuntu-latest - steps: - - name: Checkout - uses: actions/checkout@v3 - - name: Set up Node - uses: actions/setup-node@v3 - with: - node-version: 18 - cache: "npm" - - name: Install dependencies - run: npm install - - name: Install VitePress - run: npm install -g vitepress - - name: Install VitePress Tabs - run: npm install -g vitepress-plugin-tabs - - name: Fix VitePress permissions - run: chmod +x $(npm root -g)/vitepress/bin/vitepress.js - - name: Build - run: npm run docs:build - - name: Setup Pages - uses: actions/configure-pages@v3 - - name: Upload artifact - uses: actions/upload-pages-artifact@v3 - with: - path: .vitepress/dist - overwrite: true - - name: Deploy to GitHub Pages - id: deployment - uses: actions/deploy-pages@v4 diff --git a/.gitignore b/.gitignore index 43db627..6240da8 100644 --- a/.gitignore +++ b/.gitignore @@ -1,171 +1,21 @@ -.vitepress/dist -.vitepress/cache +# build output +dist/ +# generated types +.astro/ -# Created by https://www.toptal.com/developers/gitignore/api/visualstudiocode,node -# Edit at https://www.toptal.com/developers/gitignore?templates=visualstudiocode,node +# dependencies +node_modules/ -### Node ### -# Logs -logs -*.log +# logs npm-debug.log* yarn-debug.log* yarn-error.log* -lerna-debug.log* -.pnpm-debug.log* - -# Diagnostic reports (https://nodejs.org/api/report.html) -report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json - -# Runtime data -pids -*.pid -*.seed -*.pid.lock - -# Directory for instrumented libs generated by jscoverage/JSCover -lib-cov - -# Coverage directory used by tools like istanbul -coverage -*.lcov - -# nyc test coverage -.nyc_output +pnpm-debug.log* -# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files) -.grunt - -# Bower dependency directory (https://bower.io/) -bower_components - -# node-waf configuration -.lock-wscript - -# Compiled binary addons (https://nodejs.org/api/addons.html) -build/Release - -# Dependency directories -node_modules/ -jspm_packages/ -# Snowpack dependency directory (https://snowpack.dev/) -web_modules/ - -# TypeScript cache -*.tsbuildinfo - -# Optional npm cache directory -.npm - -# Optional eslint cache -.eslintcache - -# Optional stylelint cache -.stylelintcache - -# Microbundle cache -.rpt2_cache/ -.rts2_cache_cjs/ -.rts2_cache_es/ -.rts2_cache_umd/ - -# Optional REPL history -.node_repl_history - -# Output of 'npm pack' -*.tgz - -# Yarn Integrity file -.yarn-integrity - -# dotenv environment variable files +# environment variables .env -.env.development.local -.env.test.local -.env.production.local -.env.local - -# parcel-bundler cache (https://parceljs.org/) -.cache -.parcel-cache - -# Next.js build output -.next -out - -# Nuxt.js build / generate output -.nuxt -dist - -# Gatsby files -.cache/ -# Comment in the public line in if your project uses Gatsby and not Next.js -# https://nextjs.org/blog/next-9-1#public-directory-support -# public - -# vuepress build output -.vuepress/dist - -# vuepress v2.x temp and cache directory -.temp - -# Docusaurus cache and generated files -.docusaurus - -# Serverless directories -.serverless/ - -# FuseBox cache -.fusebox/ - -# DynamoDB Local files -.dynamodb/ - -# TernJS port file -.tern-port - -# Stores VSCode versions used for testing VSCode extensions -.vscode-test - -# yarn v2 -.yarn/cache -.yarn/unplugged -.yarn/build-state.yml -.yarn/install-state.gz -.pnp.* - -### Node Patch ### -# Serverless Webpack directories -.webpack/ - -# Optional stylelint cache - -# SvelteKit build / generate output -.svelte-kit - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json -!.vscode/*.code-snippets - -# Local History for Visual Studio Code -.history/ - -# Built Visual Studio Code Extensions -*.vsix - -### VisualStudioCode Patch ### -# Ignore all local history of files -.history -.ionide - -# End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,node - -.fleet/* +.env.production -# Webstorm files -.idea/* \ No newline at end of file +# macOS-specific files +.DS_Store diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..7c3f821 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..4244e5c --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..35eb1dd --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.idea/workspace.xml b/.idea/workspace.xml new file mode 100644 index 0000000..694813b --- /dev/null +++ b/.idea/workspace.xml @@ -0,0 +1,288 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1784921000945 + + + + + + + + \ No newline at end of file diff --git a/.vitepress/config.mts b/.vitepress/config.mts deleted file mode 100644 index da6fc45..0000000 --- a/.vitepress/config.mts +++ /dev/null @@ -1,90 +0,0 @@ -import {defineConfig} from "vitepress"; -import {tabsMarkdownPlugin} from "vitepress-plugin-tabs"; -import guide from "./sidebar/guide.mts"; -import nextftc from "./sidebar/nextftc.mts"; -import bindings from "./sidebar/bindings.mts"; -import control from "./sidebar/control.mts"; -import extensions from "./sidebar/extensions.mts"; -import llmstxt from 'vitepress-plugin-llms' - -// https://vitepress.dev/reference/site-config -export default defineConfig({ - srcDir: "src", - head: [ - ["link", {rel: "shortcut icon", type: "image/x-icon", href: "/favicon.ico"}], - ["link", {rel: "icon", type: "image/png", href: "/favicon-96x96.png", sizes: "96x96"}], - ["link", {rel: "icon", type: "image/svg+xml", href: "/favicon.svg"}], - [ - "link", - { - rel: "apple-touch-icon", - href: "/apple-touch-icon.png", - sizes: "180x180" - } - ], - ["link", {rel: "manifest", href: "/site.webmanifest"}] - ], - cleanUrls: true, - ignoreDeadLinks: true, - markdown: { - config(md) { - md.use(tabsMarkdownPlugin); - } - }, - title: "NextFTC Documentation", - description: "Simple but powerful libraries for FTC", - themeConfig: { - // https://vitepress.dev/reference/default-theme-config - nav: [ - {text: "Guide", link: "/guide/about", activeMatch: "^/guide/"}, - { - text: "Libraries", - items: [ - {text: "NextFTC", link: "/nextftc/", activeMatch: "^/nextftc/"}, - {text: "NextControl", link: "/control/", activeMatch: "^/control/"}, - {text: "NextBindings", link: "/bindings/", activeMatch: "^/bindings/"}, - {text: "Extensions", link: "/extensions/", activeMatch: "^/extensions/"}, - ], - activeMatch: "^/(nextftc|control|bindings|extensions)/" - - }, - { - text: "v1.0.0", - items: [ - {text: "v0.6", link: "https://v0.nextftc.dev"} // TODO: Update to `v0.nextftc.dev` when v1 is released - ] - }, - { - text: "KDoc", - link: "https://javadoc.io/doc/dev.nextftc" - }, - {text: "Contributing", link: "/contributing"}, - {text: "Code of Conduct", link: "/code-of-conduct"} - ], - - sidebar: { - '/guide/': guide, - '/nextftc/': nextftc, - '/bindings/': bindings, - '/control/': control, - '/extensions/': extensions - }, - - socialLinks: - [ - {icon: "github", link: "https://github.com/NextFTC"}, - {icon: "discord", link: "https://nextftc.dev/discord"} - ], - editLink: - { - pattern: "https://github.com/NextFTC/NextFTC-Docs/edit/main/src/:path" // TODO: Update to `NextFTC-Docs` when v1 is released - } - , - search: { - provider: "local" - } - }, - vite: { - plugins: [llmstxt()] - } -}); diff --git a/.vitepress/sidebar/bindings.mts b/.vitepress/sidebar/bindings.mts deleted file mode 100644 index 900fa59..0000000 --- a/.vitepress/sidebar/bindings.mts +++ /dev/null @@ -1,22 +0,0 @@ -import {DefaultTheme} from "vitepress"; - -type SidebarItem = DefaultTheme.SidebarItem; - -export default [ - { - text: "Overview", - link: "/bindings/", - }, - { - text: "Getting Started", - link: "/bindings/getting-started", - }, - { - text: "Buttons, Layers, and Callbacks", - link: "/bindings/buttons", - }, - { - text: "Variables and Ranges", - link: "/bindings/variables", - } -] satisfies SidebarItem[] \ No newline at end of file diff --git a/.vitepress/sidebar/control.mts b/.vitepress/sidebar/control.mts deleted file mode 100644 index 1d8955c..0000000 --- a/.vitepress/sidebar/control.mts +++ /dev/null @@ -1,64 +0,0 @@ -import {DefaultTheme} from "vitepress"; - -type SidebarItem = DefaultTheme.SidebarItem; - -export default [ - { - text: "Overview", - link: "/control/" - }, - { - text: "Getting Started", - link: "/control/getting-started" - }, - { - text: "Configuring with the FTC Dashboard", - link: "/control/dashboard" - }, - { - text: "Reference", - items: [ - { - text: "Control Systems", - link: "/control/usage/control-systems", - }, - { - text: "Kinetic States", - link: "/control/usage/kinetic-states", - }, - { - text: "Feedback Elements", - link: "/control/usage/feedback-elements" - }, - { - text: "Feedforward Elements", - link: "/control/usage/feedforward-elements" - }, - { - text: "Filter Elements", - link: "/control/usage/filter-elements" - }, - { - text: "Interpolator Elements", - link: "/control/usage/interpolator-elements" - } - ] - }, - { - text: "Examples", - items: [ - { - text: "Slides", - link: "/control/examples/slides" - }, - { - text: "Arms", - link: "/control/examples/arms" - }, - { - text: "Flywheels", - link: "/control/examples/flywheels" - } - ] - } -] satisfies SidebarItem[] \ No newline at end of file diff --git a/.vitepress/sidebar/extensions.mts b/.vitepress/sidebar/extensions.mts deleted file mode 100644 index f95130c..0000000 --- a/.vitepress/sidebar/extensions.mts +++ /dev/null @@ -1,32 +0,0 @@ -import {DefaultTheme} from "vitepress"; - -type SidebarItem = DefaultTheme.SidebarItem; - -export default [ - { - text: "Overview", link: '/extensions/' - }, - { - text: "Pedro Pathing", items: [ - {text: "Installation", link: "/extensions/pedro/"}, - {text: "Getting Started", link: "/extensions/pedro/getting-started"}, - {text: "Following Paths", link: "/extensions/pedro/following-paths"}, - {text: "Turning", link: "/extensions/pedro/turning"}, - {text: "TeleOp Driving", link: "/extensions/pedro/teleop"}, - ] - }, - { - text: "RoadRunner", items: [ - {text: "Installation", link: "/extensions/roadrunner/"}, - {text: "Trajectory Command Builder", link: "/extensions/roadrunner/command-builder"}, - {text: "Using With Other Commands", link: "/extensions/roadrunner/other-commands"} - ] - }, - { - text: "FateWeaver", items: [ - {text: "Installation", link: "/extensions/fateweaver/"}, - {text: "FateComponent", link: "/extensions/fateweaver/fatecomponent"}, - {text: "Publishers", link: "/extensions/fateweaver/publishers"}, - ] - } -] satisfies SidebarItem[] \ No newline at end of file diff --git a/.vitepress/sidebar/guide.mts b/.vitepress/sidebar/guide.mts deleted file mode 100644 index af64b06..0000000 --- a/.vitepress/sidebar/guide.mts +++ /dev/null @@ -1,31 +0,0 @@ -import {DefaultTheme} from "vitepress"; - -type SidebarItem = DefaultTheme.SidebarItem; - -export default [ - { - text: "Introduction", items: [ - {text: "What is NextFTC?", link: "/guide/about"}, - {text: "Installation", link: "/guide/installation"}, - ] - }, - { - text: "Subsystems", - items: [ - {text: "Overview", link: "/guide/subsystems/overview"}, - {text: "Lift", link: "/guide/subsystems/lift"}, - {text: "Claw", link: "/guide/subsystems/claw"}, - ] - }, - { - text: "OpModes", - items: [ - {text: "Autonomous", link: "/guide/opmodes/autonomous"}, - {text: "TeleOp", link: "/guide/opmodes/teleop"}, - ] - }, - { - text: "Further Reading", - link: "/guide/further-reading" - } -] satisfies SidebarItem[] \ No newline at end of file diff --git a/.vitepress/sidebar/nextftc.mts b/.vitepress/sidebar/nextftc.mts deleted file mode 100644 index 4f90130..0000000 --- a/.vitepress/sidebar/nextftc.mts +++ /dev/null @@ -1,124 +0,0 @@ -import {DefaultTheme} from "vitepress"; - -type SidebarItem = DefaultTheme.SidebarItem; - -export default [ - {text: "Overview", link: "/nextftc/"}, - { - text: "Core Concepts", - collapsed: false, - items: [ - { - text: "Commands", - link: "/nextftc/concepts/commands" - }, - { - text: "Subsystems", - link: "/nextftc/concepts/subsystems" - }, - { - text: "Components", - link: "/nextftc/concepts/components" - }, - { - text: "OpModes", - link: "/nextftc/concepts/opmodes" - }, - { - text: "Units", - link: "/nextftc/concepts/units" - }, - { - text: "Subsystem Groups", - link: "/nextftc/concepts/subsystem-groups" - } - ] - }, - { - text: "Helpful Commands", - collapsed: false, - items: [ - { - text: "Command Groups", - link: "/nextftc/commands/groups" - }, - { - text: "Utilities", - link: "/nextftc/commands/utilities" - }, - { - text: "Conditionals", - link: "/nextftc/commands/conditionals" - }, - { - text: "Delays", - link: "/nextftc/commands/delays" - }, - { - text: "Custom Commands", - link: "/nextftc/commands/custom-commands" - } - ] - }, - { - text: "Hardware", - collapsed: false, - items: [ - { - text: "Drivetrain Commands", - link: "/nextftc/hardware/drivetrain-commands", - items: [ - { - text: "Holonomic", - link: "/nextftc/hardware/drivetrain-commands/holonomic" - }, - { - text: "Differential", - link: "/nextftc/hardware/drivetrain-commands/differential" - } - ] - }, - { - text: "Motors and Servos", - items: [ - { - text: "Introduction", - link: "/nextftc/hardware/motors-and-servos" - }, - { - text: "Motors", - link: "/nextftc/hardware/motors-and-servos/motors" - }, - { - text: "Servos", - link: "/nextftc/hardware/motors-and-servos/servos" - }, - { - text: "Continuous-Rotation Servos", - link: "/nextftc/hardware/motors-and-servos/cr-servos" - }, - { - text: "Servos with Feedback", - link: "/nextftc/hardware/motors-and-servos/feedback-servos" - } - ] - }, - { - text: "Motor and Servo Commands", - items: [ - { - text: "SetPower", - link: "/nextftc/hardware/motor-and-servo-commands/setpower" - }, - { - text: "SetPositions", - link: "/nextftc/hardware/motor-and-servo-commands/setpositions" - }, - { - text: "RunToState", - link: "/nextftc/hardware/motor-and-servo-commands/runtostate" - } - ] - } - ] - }] satisfies SidebarItem[] \ No newline at end of file diff --git a/.vitepress/theme/custom.css b/.vitepress/theme/custom.css deleted file mode 100644 index 7c6c35b..0000000 --- a/.vitepress/theme/custom.css +++ /dev/null @@ -1,7 +0,0 @@ -:root { - --vp-home-hero-name-color: #005bab; - --vp-custom-block-tip-bg: #86bd86; - --vp-custom-block-tip-text: #212a24; - --vp-c-tip-1: #2c4133; - --vp-custom-block-tip-code-bg: #7b9a7b; -} \ No newline at end of file diff --git a/.vitepress/theme/index.mts b/.vitepress/theme/index.mts deleted file mode 100644 index 59c2a42..0000000 --- a/.vitepress/theme/index.mts +++ /dev/null @@ -1,11 +0,0 @@ -import type {Theme} from "vitepress"; -import DefaultTheme from "vitepress/theme"; -import {enhanceAppWithTabs} from "vitepress-plugin-tabs/client"; -import "./custom.css"; - -export default { - extends: DefaultTheme, - enhanceApp({app}) { - enhanceAppWithTabs(app); - } -} satisfies Theme; diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..22a1505 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,4 @@ +{ + "recommendations": ["astro-build.astro-vscode"], + "unwantedRecommendations": [] +} diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..d642209 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,11 @@ +{ + "version": "0.2.0", + "configurations": [ + { + "command": "./node_modules/.bin/astro dev", + "name": "Development server", + "request": "launch", + "type": "node-terminal" + } + ] +} diff --git a/AGENTS.md b/AGENTS.md new file mode 100644 index 0000000..c5ff429 --- /dev/null +++ b/AGENTS.md @@ -0,0 +1,22 @@ +## Development + +When starting the dev server, use background mode: + +``` +astro dev --background +``` + +Manage the background server with `astro dev stop`, `astro dev status`, and `astro dev logs`. + +## Documentation + +Full documentation: https://docs.astro.build + +Consult these guides before working on related tasks: + +- [Adding pages, dynamic routes, or middleware](https://docs.astro.build/en/guides/routing/) +- [Working with Astro components](https://docs.astro.build/en/basics/astro-components/) +- [Using React, Vue, Svelte, or other framework components](https://docs.astro.build/en/guides/framework-components/) +- [Adding or managing content](https://docs.astro.build/en/guides/content-collections/) +- [Adding styles or using Tailwind](https://docs.astro.build/en/guides/styling/) +- [Supporting multiple languages](https://docs.astro.build/en/guides/internationalization/) diff --git a/CLAUDE.md b/CLAUDE.md new file mode 120000 index 0000000..47dc3e3 --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1 @@ +AGENTS.md \ No newline at end of file diff --git a/LICENSE b/LICENSE deleted file mode 100644 index a5eae15..0000000 --- a/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/NextFTC-Docs-Beta.iml b/NextFTC-Docs-Beta.iml new file mode 100644 index 0000000..aae86ac --- /dev/null +++ b/NextFTC-Docs-Beta.iml @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..12fffe8 --- /dev/null +++ b/README.md @@ -0,0 +1,49 @@ +# Starlight Starter Kit: Basics + +[![Built with Starlight](https://astro.badg.es/v2/built-with-starlight/tiny.svg)](https://starlight.astro.build) + +``` +bun create astro@latest -- --template starlight +``` + +> 🧑‍🚀 **Seasoned astronaut?** Delete this file. Have fun! + +## 🚀 Project Structure + +Inside of your Astro + Starlight project, you'll see the following folders and files: + +``` +. +├── public/ +├── src/ +│ ├── assets/ +│ ├── content/ +│ │ └── docs/ +│ └── content.config.ts +├── astro.config.mjs +├── package.json +└── tsconfig.json +``` + +Starlight looks for `.md` or `.mdx` files in the `src/content/docs/` directory. Each file is exposed as a route based on its file name. + +Images can be added to `src/assets/` and embedded in Markdown with a relative link. + +Static assets, like favicons, can be placed in the `public/` directory. + +## 🧞 Commands + +All commands are run from the root of the project, from a terminal: + +| Command | Action | +| :------------------------ | :----------------------------------------------- | +| `bun install` | Installs dependencies | +| `bun dev` | Starts local dev server at `localhost:4321` | +| `bun build` | Build your production site to `./dist/` | +| `bun preview` | Preview your build locally, before deploying | +| `bun astro ...` | Run CLI commands like `astro add`, `astro check` | +| `bun astro -- --help` | Get help using the Astro CLI | + +## 👀 Want to learn more? + +Check out [Starlight’s docs](https://starlight.astro.build/), read [the Astro documentation](https://docs.astro.build), or jump into the [Astro Discord server](https://astro.build/chat). diff --git a/astro.config.mjs b/astro.config.mjs new file mode 100644 index 0000000..d0296a1 --- /dev/null +++ b/astro.config.mjs @@ -0,0 +1,36 @@ +// @ts-check +import { defineConfig } from 'astro/config'; +import starlight from '@astrojs/starlight'; + +// https://astro.build/config +export default defineConfig({ + integrations: [ + starlight({ + title: 'NextFTC', + logo: { + light: './src/assets/nextftc-logo-light.png', + dark: './src/assets/nextftc-logo-dark.png', + replacesTitle: true, + }, + favicon: '/favicon.png', + customCss: ['./src/styles/custom.css'], + social: [ + { icon: 'github', label: 'GitHub', href: 'https://github.com/NextFTC/NextFTCSuite' }, + { icon: 'discord', label: 'Discord', href: 'https://nextftc.dev/discord' }, + ], + sidebar: [ + { + label: 'Guides', + items: [ + // Each item here is one entry in the navigation menu. + { label: 'Example Guide', slug: 'guides/example' }, + ], + }, + { + label: 'Reference', + items: [{ autogenerate: { directory: 'reference' } }], + }, + 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"nextftc-docs", - "version": "1.0.0", - "description": "NextFTC Documentation", - "scripts": { - "docs:build": "vitepress build", - "docs:preview": "vitepress preview", - "docs:dev": "vitepress dev" - }, - "author": "NextFTC", - "license": "GPL-3.0-only", - "devDependencies": { - "vitepress": "^1.5.0", - "vitepress-plugin-llms": "^1.7.3", - "vitepress-plugin-tabs": "^0.5.0" - } -} + "name": "NextFTC-v2-Docs", + "type": "module", + "version": "0.0.1", + "scripts": { + "dev": "astro dev", + "start": "astro dev", + "build": "astro build", + "preview": "astro preview", + "astro": "astro" + }, + "dependencies": { + "@astrojs/starlight": "^0.41.4", + "astro": "^7.0.2", + "sharp": "^0.34.5" + }, + "devDependencies": { + "@types/bun": "^1.3.14" + } +} \ No newline at end of file diff --git a/src/public/favicon-96x96.png b/public/favicon.png similarity index 100% rename from src/public/favicon-96x96.png rename to public/favicon.png diff --git a/src/public/images/NextFTC-Banner-Dark-Transparent-FullColor.png b/src/assets/nextftc-logo-dark.png similarity index 100% rename from src/public/images/NextFTC-Banner-Dark-Transparent-FullColor.png rename to src/assets/nextftc-logo-dark.png diff --git a/src/public/images/NextFTC-Banner-Light-Transparent-FullColor.png b/src/assets/nextftc-logo-light.png similarity index 100% rename from src/public/images/NextFTC-Banner-Light-Transparent-FullColor.png rename to src/assets/nextftc-logo-light.png diff --git a/src/bindings/buttons.md b/src/bindings/buttons.md deleted file mode 100644 index 2c3d2a4..0000000 --- a/src/bindings/buttons.md +++ /dev/null @@ -1,252 +0,0 @@ -# Buttons, Layers, and Callbacks - -Buttons are arguably the most important part of NextBindings. They provide -the functionality that NextBindings is all about: bindings! - -## Buttons - -To create a button, use the `button` function. In addition to creating the -button, this function also registers it with the `BindingManager` -automatically so you don't have to do it yourself! - -:::tabs key:code - -== Kotlin - -```kotlin -val myButton = button { someBooleanCondition } - -// for example: -val gamepad1a = button { gamepad1.a } -``` - -== Java - -Make sure to add the static import to be able to just say `button`: - -```java -import static dev.nextftc.bindings.Bindings.*; -``` - -If you don't want to do the static import, you must instead use the -`Bindings.button` function. - -To create a button, do the following. - -```java -Button myButton = button(() -> someBooleanCondition); - -// for example: -Button gamepad1a = button(() -> gamepad1.a); -``` - -::: - -There are four events in buttons that callbacks can be bound to. They are: - -- `whenTrue`: every loop when the button is true. -- `whenFalse`: every loop when the button is false. -- `whenBecomesTrue`: the first loop when the button is true, a.k.a. the - rising edge. -- `whenBecomesFalse`: the first loop when the button is false, a.k.a. the - falling edge. - -> [!IMPORTANT] -> Bindings should be made in `start` (or `onStartButtonPressed` in NextFTC) -> and **not** in `loop`. This may not be what you are used to, but the -> bindings are saved and run when `BindingManager.update()` is called, in -> `loop`. - -Each function takes a `Runnable` to run when the event happens. This means -that you can pass a lambda function. If you are using NextFTC commands, this -means that you can also pass commands, as they implement `Runnable`. The -functions also return the button, allowing for fluent-style method chaining. - -Now enough with the talk, let's get to the code! - -:::tabs key:code - -== Kotlin - -```kotlin -val myButton = button { gamepad1.a } -myButton.whenTrue { runSomething() } - .whenFalse { runSomethingElse() } - .whenBecomesTrue { runAnotherThing() } - .whenBecomesFalse { runAnotherNotherThing() } - -// you can also use them directly on the button function: -button { gamepad1.a } - .whenBecomesTrue { runSomeCode() } - .whenBecomesFalse { runSomeMoreCode() } - -// since we're in Kotlin, we can use infix notation if all our code is on a single line: -button { gamepad1.a } whenBecomesTrue { yellowCard() } whenFalse { redCard() } -``` - -== Java - -```java -Button myButton = button(() -> gamepad1.a); -myButton.whenTrue(() -> runSomething()) - .whenFalse(() -> runSomethingElse()) - .whenBecomesTrue(() -> runAnotherThing()) - .whenBecomesFalse(() -> runAnotherNotherThing()); - -// you can also use them directly on the button function: -button(() -> gamepad1.a) - .whenBecomesTrue(() -> runSomeCode()) - .whenBecomesFalse(() -> runSomeMoreCode()); -``` - -::: - -## Toggles - -Buttons also support toggles. There are two toggle functions, -`toggleOnBecomesTrue` and `toggleOnBecomesFalse`, each of which return a new -button. The returned button of `toggleOnBecomesTrue` always starts at false and -becomes true on the first rising edge, false on the second, and so on. For -`toggleOnBecomesFalse`, it is very similar, except for the falling edge. - -As an example: - -:::tabs key:code - -== Kotlin - -```kotlin -button { gamepad2.right_bumper } - .toggleOnBecomesTrue() - .whenBecomesTrue { openClaw() } // runs every other rising edge, including the first one - .whenBecomesFalse { closeClaw() } // runs the rest of the rising edges -``` - -== Java - -```java -button(() -> gamepad2.right_bumper) - .toggleOnBecomesTrue() - .whenBecomesTrue(() -> openClaw()) // runs every other rising edge, including the first one - .whenBecomesFalse(() -> closeClaw()); // runs the rest of the rising edges -``` - -::: - -## Combining Buttons - -Buttons can be combined and manipulated using four logical operators: AND, -OR, XOR, and NOT. - -:::tabs key:code - -== Kotlin - -```kotlin -val andButton = button1 and button2 // true when both buttons are true -val orButton = button1 or button2 // true when at least one button is true -val xorButton = button1 xor button2 // true when exactly one button is true -val notButton = !button1 // true when button1 is false -``` - -== Java - -```java -Button andButton = button1.and(button2); // true when both buttons are true -Button orButton = button1.or(button2); // true when at least one button is true -Button xorButton = button1.xor(button2); // true when exactly one button is true -Button notButton = button1.not(); // true when button1 is false -``` - -::: - -In the following example, the drone is launched when the right bumper on -either gamepad 1 or gamepad 2 is pressed, but not if both are pressed. - -:::tabs key:code - -== Kotlin - -```kotlin -(button { gamepad1.right_bumper } xor { gamepad2.right_bumper }) - .whenBecomesTrue { launchDrone() } -``` - -== Java - -```java -button(() -> gamepad1.rightBumper).xor(() -> gamepad2.right_bumper) - .whenBecomesTrue(() -> launchDrone()); -``` - -::: - -## Layers - -Layers allow you to specify callbacks that are only run at certain times. -All the callbacks we've written so far are run regardless of the layer -because we didn't specify a layer. There is always exactly one active layer, -set in the `BindingManager`. The layer starts as `null`. When the layer is -`null`, only globally defined callbacks (the ones we've created so far) are run. - -To set the layer, do the following: - -:::tabs key:code - -== Kotlin - -```kotlin -BindingManager.layer = "endgame" -``` - -== Java - -```java -BindingManager.setLayer("endgame"); -``` - -::: - -The layer is automatically set back to `null` at the end of the OpMode, when -`BindingManager.reset()` is called. If for some reason you want to create a -binding only when the active layer is `null` (there is no active layer), you -can do so just as you would with any other layer. However, you should first -consider if there is a better option. - -:::tabs key:code - -== Kotlin - -To create a binding in a layer, create it in an `inLayer` block. - -```kotlin -button { someBoolean } - .whenTrue { runSomething() } // this is run regardless of layer. - .inLayer("endgame") { - whenBecomesFalse { runSomethingElse() } // this is run only when the active layer is "endgame". - } - .inLayer("teleop") { - whenTrue { doSomething() } - whenFalse { doSomethingElse() } - } - .whenBecomesTrue { runAnotherThing() } // this is also run regardless of layer. -``` - -== Java - -To create a binding in a layer, call `inLayer` with the layer. Calling -`global` brings you back to the global layer. - -```java -button(() -> someBoolean) - .whenTrue(() -> runSomething()) // this is run regardless of layer. - .inLayer("endgame") - .whenBecomesFalse(() -> runSomethingElse()) // this is run only when the active layer is "endgame". - .inLayer("teleop") - .whenTrue(() -> doSomething()) - .whenFalse(() -> doSomethingElse()) - .global() - .whenBecomesTrue(() -> runAnotherThing()) // this is also run regardless of layer. -``` - -::: \ No newline at end of file diff --git a/src/bindings/getting-started.md b/src/bindings/getting-started.md deleted file mode 100644 index 96aee51..0000000 --- a/src/bindings/getting-started.md +++ /dev/null @@ -1,57 +0,0 @@ -# Getting Started - -The core part of NextBindings is the `BindingManager`. It is responsible for -creating, storing, updating, and deleting all buttons, variables, and ranges. -Additionally, it is responsible for managing the layer (more on that on the -next page). - -The three "building blocks" of NextBindings are buttons, -variables, and ranges. A button represents anything that is always either -true or false. Examples include but are not limited to a gamepad button, a -limit switch, and even something abstract like whether the robot is moving. - -Buttons can have callbacks bound on certain events, such as rising and -falling edges. These callbacks are run when the button is updated, usually -through the `BindingManager`. - -Variables represent anything that can vary (hence the name). Variables can -be mapped to other variables and converted to buttons based on certain -conditions. A range is a special type of variable specifically for a number. -Ranges add functionality to variables such as thresholds and negating. - -To get started, add the following to your OpMode: - -:::tabs key:code - -== Kotlin - -```kotlin -// in loop(), or in NextFTC, onUpdate(): -BindingManager.update() - -// in stop(), or in NextFTC, onStop(); -BindingManager.reset() -``` - -== Java - -```java -// in loop(), or in NextFTC, onUpdate(): -BindingManager.update(); - -// in stop(), or in NextFTC, onStop(): -BindingManager.reset(); -``` - -::: - -Calling `update` updates all variables (including ranges) and buttons, in -that order. The reason that variables are updated before buttons is so that -buttons that depend on variables can receive the latest value of the -variable, instead of the value from the previous loop. - -Calling `reset` does three things: - -- Removes all variables -- Removes all buttons -- Sets the current layer to `null` \ No newline at end of file diff --git a/src/bindings/index.md b/src/bindings/index.md deleted file mode 100644 index c49b037..0000000 --- a/src/bindings/index.md +++ /dev/null @@ -1,32 +0,0 @@ -# NextBindings - -NextBindings is our callback bindings library. It supports binding callbacks -to buttons, rising and falling edge detection, automatic gamepad polling, and -even joystick curving! - -## Installation - -In the `build.dependencies.gradle` file, go to the `dependencies` block. -Add the following lines to the bottom: - -::: tabs key:gradle - -== .gradle - -```groovy -implementation 'dev.nextftc:bindings:1.0.1' -``` - -== .gradle.kts - -```kotlin -implementation("dev.nextftc:bindings:1.0.1") -``` - -::: - -Then, press the `Sync Now` button that appeared as a banner at the top of your -Gradle -file. - -*You're good to go!* diff --git a/src/bindings/variables.md b/src/bindings/variables.md deleted file mode 100644 index 5ca2a72..0000000 --- a/src/bindings/variables.md +++ /dev/null @@ -1,112 +0,0 @@ -# Variables and Ranges - -A variable is a container for any value that provides useful operations and -a range is a special type of variable with number-specific utilities. While -variables and ranges can't "do" anything by themselves, they allow you -to create more complicated buttons to bind callbacks to. - -## Variables - -To create a variable, use the `variable` function, which, like the `button` -function, automatically adds it to the `BindingManager`. To create a range, -use the `range` function. - -:::tabs key:code - -== Kotlin - -```kotlin -val myVariable = variable { "Hello, World" } -val myRange = range { 3.14 } -``` - -== Java - -```java -Variable myVariable = variable(() -> "Hello, World!"); -Range myRange = range(() -> 3.14); -``` - -::: - -Variables have several useful operations. Let's first look at `map`. Map -creates a new variable by applying a function to the value of the variable -every loop. While this may sound complicated, I assure you it's not. Let's -look at an example. - -:::tabs key:code - -== Kotlin - -```kotlin -val variable = variable { "World" } -val mappedVariable = variable.map { "Hello, $it" } - -println(mappedVariable.get()) // Hello, World -``` - -== Java - -```java -Variable variable = variable(() -> "World"); -Variable mappedVariable = variable.map(place -> "Hello, " + place); - -System.out.println(mappedVariable.get()); // Hello, World -``` - -::: - -Note that when the value of the initial variable changes, the value of the -mapped variable also changes! - -There is also `mapToRange`, which is the same as `map` but produces a -`Range`. You should generally use this when you're mapping to a numeric value. - -Now, let's look at `asButton`. This function creates a button from the value -of a variable and a condition, or predicate. For example: - -:::tabs key:code - -== Kotlin - -```kotlin -val leftStickY = variable { gamepad2.left_stick_y } -val button = leftStickY.asButton { it > 0 } // true when left stick y is positive. -``` - -== Java - -```java -Variable leftStickY = variable(() -> gamepad2.left_stick_y); -Button button = leftStickY.asButton(value -> value > 0); // true when left stick y is positive. -``` - -::: - -## Ranges - -Ranges are variables with special functions for numbers. Since ranges are -variables, all the operations that variables have also work on ranges. In -addition, there are some more useful number-specific operations. - -First of all, there are built-in `asButton` functions so that you don't have -to do it manually every time. These include: - -- `greaterThan`: returns a button that is true when the value is greater - than a number. -- `lessThan`: returns a button that is true when the value is less than a - number. -- `atLeast`: returns a button that is true when the value is greater than or - equal to a number. -- `atMost`: returns a button that is true when the value is less than or - equal to a number. -- `inRange`: returns a button that is true when the value is within a - certain closed range. - -There are also built-in `map` functions: - -- `deadZone`: returns a range that is the same as the original range, but is - zero when the value is within a certain threshold of zero. -- `invert`: returns a range whose value is one minus the original range -- `negate`: returns a range whose value is the opposite of the original range -- In Kotlin, you can use `-range` as a shorthand for `negate`. \ No newline at end of file diff --git a/src/code-of-conduct.md b/src/code-of-conduct.md deleted file mode 100644 index 186a257..0000000 --- a/src/code-of-conduct.md +++ /dev/null @@ -1,128 +0,0 @@ -# NextFTC Code of Conduct - -## Our Pledge - -We as members, contributors, and leaders pledge to make participation in our -community a harassment-free experience for everyone, regardless of age, body -size, visible or invisible disability, ethnicity, sex characteristics, gender -identity and expression, level of experience, education, socio-economic status, -nationality, personal appearance, race, religion, or sexual identity -and orientation. - -We pledge to act and interact in ways that contribute to an open, welcoming, -diverse, inclusive, and healthy community. - -## Our Standards - -Examples of behavior that contributes to a positive environment for our -community include: - -* Demonstrating empathy and kindness toward other people -* Being respectful of differing opinions, viewpoints, and experiences -* Giving and gracefully accepting constructive feedback -* Accepting responsibility and apologizing to those affected by our mistakes, - and learning from the experience -* Focusing on what is best not just for us as individuals, but for the - overall community - -Examples of unacceptable behavior include: - -* The use of sexualized language or imagery, and sexual attention or - advances of any kind -* Trolling, insulting or derogatory comments, and personal or political attacks -* Public or private harassment -* Publishing others' private information, such as a physical or email - address, without their explicit permission -* Other conduct which could reasonably be considered inappropriate in a - professional setting - -## Enforcement Responsibilities - -Community leaders are responsible for clarifying and enforcing our standards of -acceptable behavior and will take appropriate and fair corrective action in -response to any behavior that they deem inappropriate, threatening, offensive, -or harmful. - -Community leaders have the right and responsibility to remove, edit, or reject -comments, commits, code, wiki edits, issues, and other contributions that are -not aligned to this Code of Conduct, and will communicate reasons for moderation -decisions when appropriate. - -## Scope - -This Code of Conduct applies within all community spaces, and also applies when -an individual is officially representing the community in public spaces. -Examples of representing our community include using an official e-mail address, -posting via an official social media account, or acting as an appointed -representative at an online or offline event. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported to the community leaders responsible for enforcement at -. All complaints will be reviewed and investigated -promptly and fairly. - -All community leaders are obligated to respect the privacy and security of the -reporter of any incident. - -## Enforcement Guidelines - -Community leaders will follow these Community Impact Guidelines in determining -the consequences for any action they deem in violation of this Code of Conduct: - -### 1. Correction - -**Community Impact**: Use of inappropriate language or other behavior deemed -unprofessional or unwelcome in the community. - -**Consequence**: A private, written warning from community leaders, providing -clarity around the nature of the violation and an explanation of why the -behavior was inappropriate. A public apology may be requested. - -### 2. Warning - -**Community Impact**: A violation through a single incident or series -of actions. - -**Consequence**: A warning with consequences for continued behavior. No -interaction with the people involved, including unsolicited interaction with -those enforcing the Code of Conduct, for a specified period of time. This -includes avoiding interactions in community spaces as well as external channels -like social media. Violating these terms may lead to a temporary or -permanent ban. - -### 3. Temporary Ban - -**Community Impact**: A serious violation of community standards, including -sustained inappropriate behavior. - -**Consequence**: A temporary ban from any sort of interaction or public -communication with the community for a specified period of time. No public or -private interaction with the people involved, including unsolicited interaction -with those enforcing the Code of Conduct, is allowed during this period. -Violating these terms may lead to a permanent ban. - -### 4. Permanent Ban - -**Community Impact**: Demonstrating a pattern of violation of community -standards, including sustained inappropriate behavior, harassment of an -individual, or aggression toward or disparagement of classes of individuals. - -**Consequence**: A permanent ban from any sort of public interaction within -the community. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], -version 2.0, available at -https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. - -Community Impact Guidelines were inspired by [Mozilla's code of conduct -enforcement ladder](https://github.com/mozilla/diversity). - -[homepage]: https://www.contributor-covenant.org - -For answers to common questions about this code of conduct, see the FAQ at -https://www.contributor-covenant.org/faq. Translations are available at -https://www.contributor-covenant.org/translations. \ No newline at end of file diff --git a/src/content.config.ts b/src/content.config.ts new file mode 100644 index 0000000..d9ee8c9 --- /dev/null +++ b/src/content.config.ts @@ -0,0 +1,7 @@ +import { defineCollection } from 'astro:content'; +import { docsLoader } from '@astrojs/starlight/loaders'; +import { docsSchema } from '@astrojs/starlight/schema'; + +export const collections = { + docs: defineCollection({ loader: docsLoader(), schema: docsSchema() }), +}; diff --git a/src/content/docs/guides/example.md b/src/content/docs/guides/example.md new file mode 100644 index 0000000..ebd0f3b --- /dev/null +++ b/src/content/docs/guides/example.md @@ -0,0 +1,11 @@ +--- +title: Example Guide +description: A guide in my new Starlight docs site. +--- + +Guides lead a user through a specific task they want to accomplish, often with a sequence of steps. +Writing a good guide requires thinking about what your users are trying to do. + +## Further reading + +- Read [about how-to guides](https://diataxis.fr/how-to-guides/) in the Diátaxis framework diff --git a/src/content/docs/index.mdx b/src/content/docs/index.mdx new file mode 100644 index 0000000..3e177aa --- /dev/null +++ b/src/content/docs/index.mdx @@ -0,0 +1,34 @@ +--- +title: NextFTC +description: The modern FTC library for Kotlin and Java. +template: splash +hero: + tagline: A powerful, ergonomic library for FTC robots, built around commands, triggers, and zero boilerplate. + actions: + - text: Get Started + link: /guides/introduction/ + icon: right-arrow + - text: View on GitHub + link: https://github.com/NextFTC/NextFTCSuite + icon: external + variant: minimal +--- + +import { Card, CardGrid } from '@astrojs/starlight/components'; + +## What's in NextFTC v2? + + + + Build robots around composable commands and reactive triggers. Bind gamepad inputs to commands with a single line of code. + + + Annotate your OpModes with `@NextTeleop` or `@NextAutonomous` and inject your Robot instances at start time. + + + Wrap motors, servos, sensors, and vision hardware with lazy-initialized, caching wrappers that reduce unnecessary hardware writes. + + + PID, feedforward, motion profiling, Kalman filtering, and type-safe units: everything you need to close the loop on any mechanism. + + diff --git a/src/content/docs/reference/example.md b/src/content/docs/reference/example.md new file mode 100644 index 0000000..0224f09 --- /dev/null +++ b/src/content/docs/reference/example.md @@ -0,0 +1,11 @@ +--- +title: Example Reference +description: A reference page in my new Starlight docs site. +--- + +Reference pages are ideal for outlining how things work in terse and clear terms. +Less concerned with telling a story or addressing a specific use case, they should give a comprehensive outline of what you're documenting. + +## Further reading + +- Read [about reference](https://diataxis.fr/reference/) in the Diátaxis framework diff --git a/src/contributing.md b/src/contributing.md deleted file mode 100644 index bb95ca9..0000000 --- a/src/contributing.md +++ /dev/null @@ -1,159 +0,0 @@ -# Contributing to NextFTC - -First off, thanks for taking the time to contribute! ❤️ - -All types of contributions are encouraged and valued. Please make sure to -read the relevant section before making your contribution. It will make it a lot -easier for us maintainers and smooth out the experience for all involved. The -community looks forward to your contributions. 🎉 - -> And if you like NextFTC, but just don't have time to contribute, that's fine. -> There are other easy ways to support and show your appreciation, which we -> would -> also be very happy about: -> - Star it on GitHub -> - Tell your friends about it -> - Refer NextFTC in your team's GitHub -> - Mention NextFTC at local meetups and competitions - -## Code of Conduct - -This project and everyone participating in it is governed by -the [Code of Conduct](/code-of-conduct). -By participating, you are expected to uphold this code. Please report -unacceptable behavior to . - -## I Have a Question - -> If you want to ask a question, we assume that you have read the -> available [documentation](https://nextftc.dev). - -If you then still feel the need to ask a question and need clarification, we -recommend one of the following: - -- Open an [issue](https://github.com/NextFTC/NextFTC/issues/new). -- Ask in the [Discord server](https://nextftc.dev/discord). - -Regardless, please provide as much context as you can about what you're running -into. We will then try to get back to you as soon as possible. - -## I Want To Contribute - -> ### Legal Notice -> When contributing to this project, you must agree that you have authored 100% -> of the content, that you have the necessary rights to the content and that the -> content you contribute may be provided under the project license, -> the -> [GNU General Public License, version 3](https://www.gnu.org/licenses/gpl-3.0.html). - -### Reporting Bugs - -#### Before Submitting a Bug Report - -A good bug report shouldn't leave others needing to chase you up for more -information. Therefore, we ask you to investigate carefully, collect information -and describe the issue in detail in your report. Please complete the following -steps in advance to help us fix any potential bug as fast as possible. - -- Make sure that you are using the latest version. -- Determine if your bug is really a bug and not an error on your side e.g. using - incompatible versions (Make sure that you have read - the [documentation](https://nextftc.dev). If you are looking for support, you - might want to check [this section](#i-have-a-question)). -- Can you reliably reproduce the issue? And can you also reproduce it with older - versions? - -#### How Do I Submit a Good Bug Report? - -We use GitHub issues to track bugs and errors. If you run into an issue with the -project: - -- Open an [Issue](https://github.com/NextFTC/NextFTC/issues/new). -- Explain the behavior you would expect and the actual behavior. -- Please provide as much context as possible and describe the *reproduction - steps* that someone else can follow to recreate the issue on their own. This - usually includes your code. For good bug reports you should isolate the - problem and create a reduced test case. -- Provide the information you collected in the previous section. - -### Suggesting Enhancements - -This section guides you through submitting an enhancement suggestion for -NextFTC, **including completely new features and minor improvements to existing -functionality**. Following these guidelines will help maintainers and the -community to understand your suggestion and find related suggestions. - -#### Before Submitting an Enhancement - -- Make sure that you are using the latest version. -- Read the [documentation](https://nextftc.dev) carefully and find out if the - functionality is already covered, maybe by an individual configuration. -- Find out whether your idea fits with the scope and aims of the project. It's - up to you to make a strong case to convince the project's developers of the - merits of this feature. Keep in mind that we want features that will be useful - to the majority of our users and not just a small subset. If you're just - targeting a minority of users, consider writing an add-on/plugin library. - -#### How Do I Submit a Good Enhancement Suggestion? - -Enhancement suggestions are tracked -as [GitHub issues](https://github.com/NextFTC/NextFTC/issues). - -- Use a **clear and descriptive title** for the issue to identify the - suggestion. -- Provide a **step-by-step description of the suggested enhancement** in as many - details as possible. -- **Describe the current behavior** and **explain which behavior you expected to - see instead** and why. At this point you can also tell which alternatives do - not work for you. -- **Explain why this enhancement would be useful** to most NextFTC users. You - may also want to point out the other projects that solved it better and which - could serve as inspiration. - -### Your First Code Contribution - -We welcome all contributions, including yours. - -#### Bug fixes - -For bug fixes, if you would like to fix it yourself, please do the following. - -1. Fork the repo. -2. Create a branch from the `main` branch. -3. Make your changes. -4. Create a pull request to merge your branch back into the `main` branch of the - original repo. - -#### Features - -> [!IMPORTANT] -> For bigger changes, please create -> an [issue](https://github.com/NextFTC/NextFTC/issues/new) first. - -For features, please do the following: - -1. Fork the repo. -2. Create a branch from the `develop` branch. -3. Make your changes. -4. Create a pull request to merge your branch back into the `develop` branch of - the original repo. - -#### Testing Changes Locally - -If you had made changes to the library and would like to test them locally first -before making a pull request, follow these steps. - -1. In the library rpeo, run `./gradlew deployLocal`. -2. In your team code, in the `repositories { }` block, add `mavenLocal()`. -3. In the `implementation` dependency for the library you changed, add `-LOCAL` - to the end of the version. -4. Click sync. - -### Improving The Documentation - -To suggest an edit to any page on the documentation, click "edit this page" at -the bottom of the docs. - -## Attribution - -This guide is based on [CONTRIBUTING.md](https://contributing.md/example). \ No newline at end of file diff --git a/src/control/dashboard.md b/src/control/dashboard.md deleted file mode 100644 index 659cecb..0000000 --- a/src/control/dashboard.md +++ /dev/null @@ -1,44 +0,0 @@ -# Configuring with the FTC Dashboard - -It is common to tune your controllers with the -[FTC Dashboard](https://acmerobotics.github.io/ftc-dashboard). To support -this, NextControl allows passing a coefficients/parameters object for each -element instead of directly passing the coefficients. - -For example: - -:::tabs key:code - -== Kotlin - -```kotlin -// in a class with @Config - -companion object Constants { - @JvmField - val coefficients = PIDCoefficients(p, i, d) -} - -val controlSystem = controlSystem { - posPid(coefficients) -} -``` - -== Java - -```java -// in a class with @Config - -public static PIDCoefficients coefficients = new PIDCoefficients(p, i, d); - -ControlSystem controlSystem = ControlSystem.builder() - .posPid(coefficients) - .build(); -``` - -::: - -Now, our PID is configurable from the dashboard. - -Although this example is for a PID element, every other element in NextControl -has a coefficients/parameters object as well. \ No newline at end of file diff --git a/src/control/examples/flywheels.md b/src/control/examples/flywheels.md deleted file mode 100644 index 724db65..0000000 --- a/src/control/examples/flywheels.md +++ /dev/null @@ -1,110 +0,0 @@ -# Flywheel Example - -Flywheels are a commonly used mechanism in FTC for launching game elements, -and most often controlled with a feedforward controller and a velocity PID controller. - -With NextControl, that would be implemented like this (using hypothetical constants): - -::: tabs key:code - -== Kotlin - -```kotlin -controlSystem { - velPid(0.001, 0.0, 0.0) - basicFF(0.003, 0.08, 0.0) -} -``` - -== Java - -```java -ControlSystem.builder() - .velPid(0.001, 0.0, 0.0) - .basicFF(0.003, 0.08, 0.0) - .build(); -``` - -::: - -## What can I do with this? - -If you're using a command-based framework, like NextFTC, -you can create commands using your control system. - -If not, we can create OpModes that use our controllers directly. -For example, let's say we wanted to change the target velocity of our flywheel using a button press. -We can easily do that by simply changing the `goal` of our `ControlSystem`: - -::: tabs key:code - -== Kotlin - -```kotlin -class FlywheelExample() : OpMode() { - val flywheelMotor by lazy { hardwareMap.get(DcMotorEx::class.java, "flywheel") } - val controller = controlSystem { - velPid(0.001, 0.0, 0.0) - basicFF(0.003, 0.08, 0.0) - } - - override fun init() { - controller.goal = KineticState(0.0, 0.0) - } - - override fun loop() { - if (gamepad1.aWasPressed()) { - controller.goal = KineticState(0.0, 2000.0) - } else if (gamepad1.bWasPressed()) { - controller.goal = KineticState(0.0, 0.0) - } else if (gamepad1.xWasPressed()) { - controller.goal = KineticState(0.0, 1000.0) - } - - flywheelMotor.power = controller.calculate(KineticState( - flywheelMotor.currentPosition.toDouble(), - flywheelMotor.velocity - )) - } -} -``` - -== Java - -```java -public class FlywheelExample extends OpMode { - private DcMotorEx flywheelMotor; - private ControlSystem controller; - - @Override - public void init() { - flywheelMotor = hardwareMap.get(DcMotorEx.class, "flywheel"); - - controller = ControlSystem.builder() - .velPid(0.001, 0.0, 0.0) - .basicFF(0.003, 0.08, 0.0) - .build(); - - controller.setGoal(new KineticState(0.0, 0.0)); - } - - @Override - public void loop() { - if (gamepad1.aWasPressed()) { - controller.setGoal(new KineticState(0.0, 2000.0)); - } else if (gamepad1.bWasPressed()) { - controller.setGoal(new KineticState(0.0, 0.0)); - } else if (gamepad1.xWasPressed()) { - controller.setGoal(new KineticState(0.0, 1000.0)); - } - - flywheelMotor.setPower(controller.calculate(new KineticState( - flywheelMotor.getCurrentPosition(), - flywheelMotor.getVelocity())) - ); - } -} -``` - -::: - diff --git a/src/control/examples/index.md b/src/control/examples/index.md deleted file mode 100644 index f01a84c..0000000 --- a/src/control/examples/index.md +++ /dev/null @@ -1,298 +0,0 @@ -# Examples - -This section contains some examples on creating and using NextControl `ControlSystem`s. - -::: tabs key:code - -== Kotlin - -```kotlin -/** - * Basic Example: Simple position PID controller - * - * This example demonstrates how to create a basic position PID controller - * for a simple system like a motor. - */ -fun basicPositionPIDExample() { - // Create a simple position PID controller with kP=0.5 - val controller = ControlSystem.builder() - .posPid(0.5) // Only using proportional control - .build() - - // Set the goal position to 100 - controller.goal = KineticState(position = 100.0) - - // In a loop (simulated here), you would: - val currentPosition = 50.0 // This would come from a sensor - val power = controller.calculate(KineticState(position = currentPosition)) - - // Apply power to your motor - println("Power to apply: $power") - - // Check if we've reached the goal - val withinTolerance = controller.isWithinTolerance(KineticState(position = 2.0)) - println("Within tolerance: $withinTolerance") -} - -/** - * Intermediate Example: Velocity control with feedforward - * - * This example demonstrates a velocity controller with PID feedback - * and basic feedforward for better performance. - */ -fun velocityControlWithFeedforwardExample() { - // Create a velocity controller with PID and feedforward - val controller = ControlSystem.builder() - .velPid(kP = 0.1, kI = 0.01, kD = 0.05) // Velocity PID - .basicFF(kV = 0.02, kS = 0.01) // Basic feedforward with velocity and static friction compensation - .build() - - // Set the goal velocity to 500 units per second - controller.goal = KineticState(velocity = 500.0) - - // In a loop (simulated here), you would: - val currentState = KineticState( - position = 1000.0, // Current position - velocity = 450.0 // Current velocity - ) - - val power = controller.calculate(currentState) - - // Apply power to your motor - println("Power to apply: $power") -} - -/** - * Advanced Example: Elevator control with gravity compensation - * - * This example demonstrates a more complex control system for an elevator - * with gravity compensation, filtering, and smooth interpolation. - */ -fun elevatorControlExample() { - // Create an elevator controller with position PID, gravity compensation, filtering, and interpolation - val controller = controlSystem { - // Position PID with higher derivative gain to prevent oscillation - posPid(kP = 0.8, kI = 0.0, kD = 0.2) - - // Elevator feedforward with gravity compensation - elevatorFF(kG = 0.05, kV = 0.01, kA = 0.002, kS = 0.01) - - // Low-pass filter for position measurements to reduce noise - posFilter { lowPass(alpha = 0.2) } - } - - // Set the goal position for the elevator - controller.goal = KineticState(position = 1500.0) - - // In a loop (simulated here), you would: - val currentState = KineticState( - position = 1200.0, // Current position - velocity = 100.0 // Current velocity - ) - - val power = controller.calculate(currentState) - - // Apply power to your elevator motor - println("Power to apply: $power") - - // Check if we've reached the goal with tight tolerance - val tolerance = KineticState(position = 5.0, velocity = 10.0) - val withinTolerance = controller.isWithinTolerance(tolerance) - println("Within tolerance: $withinTolerance") -} - -/** - * Expert Example: Arm control with angle wrapping and custom components - * - * This example demonstrates a sophisticated control system for a robot arm - * with angle wrapping, custom filters, and complex motion profiles. - */ -fun robotArmControlExample() { - // Create a sophisticated arm controller - val controller = controlSystem { - // Angular PID for position control with angle wrapping (in radians) - angular(AngleType.RADIANS) { - posPid(kP = 1.2, kI = 0.05, kD = 0.3) - } - - // Arm feedforward with gravity compensation - armFF(kG = 0.12, kV = 0.02, kA = 0.005, kS = 0.03) - - // adding multiple filters chains them together - posFilter { - lowPass(alpha = 0.3) - lowPass(alpha = 0.5) - } - - velFilter { - lowPass(alpha = 0.2) - } - - // EMA interpolator for smooth motion - emaInterpolator(FirstOrderEMAParameters( - alpha = 0.2, - startingReference = KineticState( - position = 0.0, - velocity = 0.0, - acceleration = 0.0 - ) - )) - } - - // Set the goal position in radians - controller.goal = KineticState(position = Math.PI / 2) // 90 degrees - - // In a loop (simulated here), you would: - val currentState = KineticState( - position = Math.PI / 4, // Current position (45 degrees) - velocity = 0.1 // Current velocity - ) - - val power = controller.calculate(currentState) - - // Apply power to your arm motor - println("Power to apply: $power") - - // Reset the controller if needed (e.g., after an emergency stop) - controller.reset() -} -``` - -== Java - -```java -/** - * Basic Example: Simple position PID controller - *

- * This example demonstrates how to create a basic position PID controller - * for a simple system like a motor. - */ - public static void basicPositionPIDExample() { - // Create a simple position PID controller with kP=0.5 - ControlSystem controller = ControlSystem.builder() - .posPid(0.5) // Only using proportional control - .build(); - - // Set the goal position to 100 - controller.setGoal(new KineticState(100.0, 0.0, 0.0)); - - // In a loop (simulated here), you would: - double currentPosition = 50.0; // This would come from a sensor - double power = controller.calculate(new KineticState(currentPosition, 0.0, 0.0)); - - // Apply power to your motor - System.out.println("Power to apply: " + power); - - // Check if we've reached the goal - boolean withinTolerance = controller.isWithinTolerance(new KineticState(2.0, 0.0, 0.0)); - System.out.println("Within tolerance: " + withinTolerance); - } - - /** - * Intermediate Example: Velocity control with feedforward - *

- * This example demonstrates a velocity controller with PID feedback - * and basic feedforward for better performance. - */ - public static void velocityControlWithFeedforwardExample() { - // Create a velocity controller with PID and feedforward - ControlSystem controller = ControlSystem.builder() - .velPid(0.1, 0.01, 0.05) // Velocity PID with kP=0.1, kI=0.01, kD=0.05 - .basicFF(0.02, 0.0, 0.01) // Basic feedforward with kV=0.02, kA=0.0, kS=0.01 - .build(); - - // Set the goal velocity to 500 units per second - controller.setGoal(new KineticState(0.0, 500.0, 0.0)); - - // In a loop (simulated here), you would: - // Create a KineticState with current position and velocity - KineticState currentState = new KineticState(1000.0, 450.0, 0.0); - - double power = controller.calculate(currentState); - - // Apply power to your motor - System.out.println("Power to apply: " + power); - } - - /** - * Advanced Example: Elevator control with gravity compensation. - *

- * This example demonstrates a more complex control system for an elevator - * with gravity compensation, filtering, and smooth interpolation. - */ - public static void elevatorControlExample() { - // Create an elevator controller with position PID, gravity compensation, and filtering - ControlSystem controller = ControlSystem.builder() - // Position PID with higher derivative gain to prevent oscillation - .posPid(0.8, 0.0, 0.2) - // Elevator feedforward with gravity compensation - .elevatorFF(0.05, 0.01, 0.002, 0.01) - // Low-pass filter for position measurements to reduce noise - .posFilter(filterBuilder -> filterBuilder.lowPass(0.2)) - .build(); - - - // Set the goal position for the elevator - controller.setGoal(new KineticState(1500.0, 0.0, 0.0)); - - // In a loop (simulated here), you would: - KineticState currentState = new KineticState(1200.0, 100.0, 0.0); - - double power = controller.calculate(currentState); - - // Apply power to your elevator motor - System.out.println("Power to apply: " + power); - - // Check if we've reached the goal with tight tolerance - KineticState tolerance = new KineticState(5.0, 10.0, 0.0); - boolean withinTolerance = controller.isWithinTolerance(tolerance); - System.out.println("Within tolerance: " + withinTolerance); - } - - /** - * Expert Example: Arm control with angle wrapping and custom components - *

- * This example demonstrates a sophisticated control system for a robot arm - * with angle wrapping, custom filters, and complex motion profiles. - */ - public static void robotArmControlExample() { - // Create a sophisticated arm controller - ControlSystemBuilder builder = ControlSystem.builder(); - - // Angular PID for position control with angle wrapping (in radians) - builder.angular(AngleType.RADIANS, feedbackBuilder -> feedbackBuilder.posPid(1.2, 0.05, 0.3)); - - // Arm feedforward with gravity compensation - builder.armFF(0.12, 0.02, 0.005, 0.03); // kG=0.12, kV=0.02, kA=0.005, kS=0.03 - - // Chained filters for better noise reduction - builder.posFilter(filterBuilder -> - filterBuilder.lowPass(0.3) - .lowPass(0.5) - ); - - builder.velFilter(filterBuilder -> filterBuilder.lowPass(0.2)); - - // Custom interpolator for smooth motion - FirstOrderEMAParameters emaParams = new FirstOrderEMAParameters(0.2, new KineticState()); - builder.emaInterpolator(emaParams); - - ControlSystem controller = builder.build(); - - // Set the goal position in radians - controller.setGoal(new KineticState(Math.PI / 2, 0.0, 0.0)); // 90 degrees - - // In a loop (simulated here), you would: - KineticState currentState = new KineticState(Math.PI / 4, 0.1, 0.0); // 45 degrees - - double power = controller.calculate(currentState); - - // Apply power to your arm motor - System.out.println("Power to apply: " + power); - - // Reset the controller if needed (e.g., after an emergency stop) - // controller.reset(); - } -``` - -::: \ No newline at end of file diff --git a/src/control/examples/slides.md b/src/control/examples/slides.md deleted file mode 100644 index 154e9d7..0000000 --- a/src/control/examples/slides.md +++ /dev/null @@ -1,111 +0,0 @@ -# Linear Slides Example - -Linear slides are a commonly used mechanism in FTC, -and most often controlled with a positional PID feedback -controller and a constant feedforward term to account for gravity. - -With NextControl, that would be implemented like this (using hypothetical constants): - -::: tabs key:code - -== Kotlin - -```kotlin -controlSystem { - posPid(0.1, 0.0, 0.0) - elevatorFF(0.04) -} -``` - -== Java - -```java -ControlSystem.builder() - .posPid(0.1, 0.0, 0.0) - .elevatorFF(0.04) - .build(); -``` - -::: - -## What can I do with this? - -If you're using a command-based framework, like NextFTC, -you can create commands using your control system. -An example of a Linear Slides subsystem using NextControl can be found -[here](../../guide/subsystems/lift.md). - -If not, we can create OpModes that use our controllers directly. -For example, let's say we wanted to change the target of our slides using a button press. -We can easily do that by simply changing the `goal` of our `ControlSystem`: - -::: tabs key:code - -== Kotlin - -```kotlin -class SlideExample() : OpMode() { - val slideMotor by lazy { hardwareMap.get(DcMotorEx::class.java, "slides") } - val controller = controlSystem { - posPid(0.1, 0.0, 0.0) - elevatorFF(0.04) - } - - override fun init() { - controller.goal = KineticState(0.0) - } - - override fun loop() { - if (gamepad1.a) { - controller.goal = KineticState(1000.0) - } else if (gamepad1.b) { - controller.goal = KineticState(0.0) - } else if (gamepad1.x) { - controller.goal = KineticState(500.0) - } - - slideMotor.power = controller.calculate(KineticState( - slideMotor.currentPosition.toDouble(), - slideMotor.velocity - )) - } -} -``` - -== Java - -```java -public class SlideExample extends OpMode { - private DcMotorEx slideMotor; - private ControlSystem controller; - - @Override - public void init() { - slideMotor = hardwareMap.get(DcMotorEx.class, "slides"); - - controller = ControlSystem.builder() - .posPid(0.1, 0.0, 0.0) - .elevatorFF(0.04) - .build(); - - controller.setGoal(new KineticState(0)); - } - - @Override - public void loop() { - if (gamepad1.a) { - controller.setGoal(new KineticState(1000.0)); - } else if (gamepad1.b) { - controller.setGoal(new KineticState(0.0)); - } else if (gamepad1.x) { - controller.setGoal(new KineticState(500.0)); - } - - slideMotor.setPower(controller.calculate(new KineticState( - slideMotor.getCurrentPosition(), - slideMotor.getVelocity())) - ); - } -} -``` - diff --git a/src/control/getting-started.md b/src/control/getting-started.md deleted file mode 100644 index 46d81d0..0000000 --- a/src/control/getting-started.md +++ /dev/null @@ -1,50 +0,0 @@ -# Getting Started - -The simplest control system is a PID. Creating one is simple: - -:::tabs key:code - -== Kotlin - -```kotlin -val controlSystem = controlSystem { - posPid(p, i, d) -} -``` - -== Java - -```java -ControlSystem controlSystem = ControlSystem.builder() - .posPid(p, i, d) - .build(); -``` - -::: - -To run the control system's calculations, call `calculate` every loop. Pass -a `KineticState` consisting of the current position and velocity, and -optionally, the acceleration. Calling `calculate` returns the motor power to -set. - -:::tabs key:code - -== Kotlin - -```kotlin -motor.power = controlSystem.calculate( - KineticState(motor.position, motor.velocity) -); -``` - -== Java - -```java -motor.setPower( - controlSystem.calculate( - KineticState(motor.getPosition(), motor.getVelocity()) - ) -); -``` - -::: \ No newline at end of file diff --git a/src/control/index.md b/src/control/index.md deleted file mode 100644 index 0d0b908..0000000 --- a/src/control/index.md +++ /dev/null @@ -1,37 +0,0 @@ -# NextControl - -NextControl is our robust control library that allows you to create any -controller imaginable. It supports PID control, feedforward, and even motion -profiling. - -> [!IMPORTANT] -> We haven't gone through the work here explaining in detail what -> different -> control methods do, because [CTRL ALT FTC](https://www.ctrlaltftc.com) is -> already a great resource for that! - -## Installation - -In the `build.dependencies.gradle` file, go to the `dependencies` block. Add -the following line to the bottom: - -:::tabs key:gradle - -== .gradle - -```groovy -implementation 'dev.nextftc:control:1.0.0' -``` - -== .gradle.kts - -```kotlin -implementation("dev.nextftc:control:1.0.0") -``` - -::: - -Then, press the `Sync Now` button that appeared as a banner at the top of -your Gradle file. - -*You're good to go!* \ No newline at end of file diff --git a/src/control/usage/control-systems.md b/src/control/usage/control-systems.md deleted file mode 100644 index f189c53..0000000 --- a/src/control/usage/control-systems.md +++ /dev/null @@ -1,101 +0,0 @@ -# Control Systems - -Control systems are the most important thing in NextControl. They are what -powers everything else. A control system can be nearly any type of controller. - -## The Four Elements - -A control system is made up of four "elements": feedback, feedforward, -filter, and interpolator. If you don't pass one of them, a sensible default -is used. - -- **Feedback elements** provide feedback (closed-loop) control for your system. - For example, PID Control, SquID Control, and Bang-Bang Control. - -- **Feedforward elements** provide feedforward (open-loop) control. NextControl - has three feedforward controllers: basic, elevator, and arm. - -- **Filter elements** filter your sensor measurements to remove noise. Examples - are low-pass filters and Kalman filters. - -- **Interpolator elements** interpolate the setpoint in order to smooth out - setpoint changes. For example, a trapezoidal motion profile or a - moving-average setpoint filter. - -The control system calculation process involves: - -1. Filtering sensor measurements -2. Obtaining the current reference from the interpolator -3. Calculating feedback component based on error -4. Calculating feedforward component based on reference -5. Returning the sum of feedback and feedforward - -## Creating Control Systems - -It is highly recommended that you use the control system builder to create -your control systems. To create a control system, pass the feedback, -feedforward, filter, and interpolator elements. All are optional, and -sensible defaults will be used if one isn't passed. - -:::tabs key:code - -== Kotlin - -```kotlin -val controlSystem = controlSystem { - feedback(/* feedback element */) - feedforward(/* feedforward element */) - posFilter { custom(/* position filter */) } - velFilter { custom(/* velocity filter */) } - accelFilter { custom(/* acceleration filter */) } - interpolator(/* interpolator element */) -} -``` - -== Java - -```java -ControlSystem controlSystem = ControlSystem.builder() - .feedback(/* feedback element */) - .feedforward(/* feedforward element */) - .posFilter(filter -> filter.custom(/* position filter */)) - .velFilter(filter -> filter.custom(/* velocity filter */)) - .accelFilter(filter -> filter.custom(/* acceleration filter */)) - .interpolator(/* interpolator element */) - .build(); -``` - -::: - -There are also numerous helper methods, outlined in the following pages. -Because of these helper methods, you will almost never need to construct -your own elements! - -## Using a Control System - -To run the control system's calculations, call `calculate` every loop. Pass -a `KineticState` consisting of the current position and velocity, and -optionally, the acceleration. Calling `calculate` returns the motor power to -set. - -:::tabs key:code - -== Kotlin - -```kotlin -motor.power = controlSystem.calculate( - KineticState(motor.position, motor.velocity) -); -``` - -== Java - -```java -motor.setPower( - controlSystem.calculate( - KineticState(motor.getPosition(), motor.getVelocity()) - ) -); -``` - -::: \ No newline at end of file diff --git a/src/control/usage/feedback-elements.md b/src/control/usage/feedback-elements.md deleted file mode 100644 index 2a7b817..0000000 --- a/src/control/usage/feedback-elements.md +++ /dev/null @@ -1,163 +0,0 @@ -# Feedback Elements - -A feedback element is any type of closed-loop (feedback) control. For -example, a PID controller, SquID controller, and bang-bang controller are -all feedback elements. - -To add a feedback element, call the `feedback` function in a control system -builder. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - feedback(/* feedback element */) -} -``` - -== Java - -```java -ControlSystem.builder() - .feedback(/* feedback element */) - .build() -``` - -::: - -## PID Element - -To create a PID element, use the `posPid` or `velPid` functions in a control -system builder. Pass either the three PID gains or a `PIDCoefficients` object. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - posPid(p, i, d) -} -``` - -== Java - -```java -ControlSystem.builder() - .posPid(p, i, d) - .build() -``` - -::: - -## SquID Element - -SquID control is the same as PID control, but the output of the proportional -component is square-rooted. - -To create a SquID element, use the `posSquid` or `velSquid` functions in a -control system builder. Pass either the three PID gains or a -`PIDCoefficients` object. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - posSquid(p, i, d) -} -``` - -== Java - -```java -ControlSystem.builder() - .posSquid(p, i, d) - .build() -``` - -::: - -## Bang Bang Element - -*TODO* - -## Angular Element - -When dealing with a **continuous-angle system** (one that can turn in a full -circle, such as a robot's heading or a turret), you should use an angular -element for position control. This allows it to always take the shortest -path to the target. - -> [!IMPORTANT] -> Your position error **must** be in the provided unit. To do this, use a -> custom filter. You can see how to do this on the arms example page. - -You pass the angle unit along with another feedback element for it to wrap. -For example: - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - angular(AngleType.DEGREES) { - posPid(p, i, d) - } -} -``` - -== Java - -```java -ControlSystem.builder() - .angular(AngleType.DEGREES, - feedback -> feedback.posPid(p, i, d) - ) - .build() -``` - -::: - -## Custom Feedback Elements - -To create a custom feedback element, implement the `FeedbackElement` -interface and pass it to the `feedback` function in a control system builder. -For example: - -:::tabs key:code - -== Kotlin - -```kotlin -class FullPowerFeedback : FeedbackElement { - override fun calculate(error: KineticState): Double { - return 1.0 - } -} - -controlSystem { - feedback(FullPowerFeedback()) -} -``` - -== Java - -```java -public class FullPowerFeedback : FeedbackElement { - @Override - public double calculate(KineticState error) { - return 1; - } -} - -ControlSystem.builder() - .feedback(new FullPowerFeedback()) - .build() -``` - -::: \ No newline at end of file diff --git a/src/control/usage/feedforward-elements.md b/src/control/usage/feedforward-elements.md deleted file mode 100644 index 8fe2b70..0000000 --- a/src/control/usage/feedforward-elements.md +++ /dev/null @@ -1,148 +0,0 @@ -# Feedforward Elements - -A feedforward element is any type of open-loop (feedforward) control. - -To add a feedforward element, call the `feedforward` function in a control -system builder. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - feedforward(/* feedforward element */) -} -``` - -== Java - -```java -ControlSystem.builder() - .feedforward(/* feedforward element */) - .build() -``` - -::: - -## Basic Feedforward - -A basic feedforward is a feedforward with velocity, acceleration, and static -components. Pass either the three gains or a `BasicFeedforwardParameters` -object. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - basicFF(v, a, s) -} -``` - -== Java - -```java -ControlSystem.builder() - .basicFF(v, a, s) - .build() -``` - -::: - -## Elevator Feedforward - -An elevator feedforward is a feedforward with velocity, acceleration, static, -and constant gravity components. Pass either the four gains or a -`GravityFeedforwardParameters` object. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - elevatorFF(g, v, a, s) -} -``` - -== Java - -```java -ControlSystem.builder() - .elevatorFF(g, v, a, s) - .build() -``` - -::: - -## Arm Feedforward - -An arm feedforward is a feedforward with velocity, acceleration, static, and -cosine gravity components. Pass either the four gains or a -`GravityFeedforwardParameters` object. - -> [!IMPORTANT] -> Your position error **must** be in radians. To do this, use a -> custom filter. You can see how to do this on the arms example page. - -:::tabs key:code - -== Kotlin - -```kotlin -controlSystem { - armFF(g, v, a, s) -} -``` - -== Java - -```java -ControlSystem.builder() - .armFF(g, v, a, s) - .build() -``` - -::: - -## Custom Feedforward Elements - -To create a custom feedforward element, implement the `FeedforwardElement` -interface and pass it to the `feedforward` function in a control system builder. -For example: - -:::tabs key:code - -== Kotlin - -```kotlin -class FullPowerFeedforward : FeedforwardElement { - override fun calculate(reference: KineticState): Double { - return 1.0 - } -} - -controlSystem { - feedforward(FullPowerFeedforward()) -} -``` - -== Java - -```java -public class FullPowerFeedforward : FeedforwardElement { - @Override - public double calculate(KineticState reference) { - return 1; - } -} - - -ControlSystem.builder() - .feedforward(new FullPowerFeedforward()) - .build() -``` - -::: \ No newline at end of file diff --git a/src/control/usage/kinetic-states.md b/src/control/usage/kinetic-states.md deleted file mode 100644 index cc740c7..0000000 --- a/src/control/usage/kinetic-states.md +++ /dev/null @@ -1,35 +0,0 @@ -# Kinetic States - -A `KineticState` is simply a structure for storing the one-dimensional motion -states of a system at a given point in time. -It contains a `position`, a `velocity`, and an `acceleration`, and works for -whatever unit you provide. For example, if `position` is given in inches, -`velocity` should be given in inches per second and `acceleration` should be -given in inches per second per second. - -`KineticStates` can also be added or subtracted componentwise and multiplied -or divided by a scalar. - -:::tabs key:code - -== Kotlin - -```kotlin -val state = KineticState(1.0, 2.0, 3.0) -val sum = state + KineticState(3.0, 2.0, 1.0) // KineticState(4.0, 4.0, 4.0) -val difference = state - KineticState(2.0, 2.0, 2.0) // KineticState(-1.0, 0.0, 1.0) -val product = state * 3 // KineticState(3.0, 6.0, 9.0) -val quotient = state / 2 // KineticState(0.5, 1.0, 1.5) -``` - -== Java - -```java -KineticState state = new KineticState(1, 2, 3); -KineticState sum = state.plus(new KineticState(3, 2, 1)); // KineticState(4, 4, 4) -KineticState difference = state.minus(new KineticState(2, 2, 2)); // KineticState(-1, 0, 1) -KineticState product = state.times(3); // KineticState(3, 6, 9) -KineticState quotient = state.div(2); // KineticState(0.5, 1, 1.5)` -``` - -::: \ No newline at end of file diff --git a/src/extensions/fateweaver/fatecomponent.md b/src/extensions/fateweaver/fatecomponent.md deleted file mode 100644 index 8d1c9b3..0000000 --- a/src/extensions/fateweaver/fatecomponent.md +++ /dev/null @@ -1,75 +0,0 @@ -# `FateComponent` - -The main feature added by this extension is the `FateComponent`, -which can be added to your OpModes alongside other components: - -:::tabs key:code - -== Kotlin - -```kotlin -addComponents( - /* existing components */ - FateComponent -) -``` - -== Java - -```java -addComponents( - /* existing components */ - FateComponent.INSTANCE -); -``` - -::: - -`FateComponent` will automatically log timestamps and the current -Command snapshot at the end of every `OpMode` loop! - -## Basic Logging Methods - -To log a message, use the `write` method: - -:::tabs key:code - -== Kotlin - -```kotlin -// in `onUpdate` method -FateComponent.write("ChannelName", object) -``` - -== Java - -```java -//in `onUpdate` method -FateComponent.write("ChannelName", object); -``` - -::: - -## Channels - -You can also use `FateComponent` to create [channel](https://docs.fate.zharel.gay/ftc/gay.zharel.fateweaver.flight/-flight-log-channel/index.html) objects! - -:::tabs key:code - -== Kotlin - -```kotlin -val channel = FateComponent.createChannel("ChannelName", SomeClass::class) -``` - -== Java - -```java -LogChannel channel = FateComponent.createChannel("ChannelName", SomeClass.class); -``` - -::: - -> [!WARNING] -> Channels must be created during an `OpMode`. -> Creating a channel before an `OpMode` is initialized will result in an exception. diff --git a/src/extensions/fateweaver/index.md b/src/extensions/fateweaver/index.md deleted file mode 100644 index ad736e1..0000000 --- a/src/extensions/fateweaver/index.md +++ /dev/null @@ -1,34 +0,0 @@ -# FateWeaver Extension - -This extension provides integration with the -[FateWeaver Library](https://fate.zharel.gay/), -a powerful logging library for FTC. - -The [FateWeaver API docs](https://docs.fate.zharel.gau/) provide more information -about the library. - -## Installation - -In the TeamCode `build.gradle`, go to the `dependencies` block. -Add the following lines: - -::: tabs key:gradle - -== .gradle - -```groovy -implementation 'dev.nextftc.extensions:fateweaver:1.0.0' -``` - -== .gradle.kts - -```kotlin -implementation("dev.nextftc.extensions:fateweaver:1.0.0") -``` - -::: - -Then, press the `Sync Now` button that appeared as a banner at the top of your -Gradle file. - -*You're good to go!* \ No newline at end of file diff --git a/src/extensions/fateweaver/publishers.md b/src/extensions/fateweaver/publishers.md deleted file mode 100644 index 04801cb..0000000 --- a/src/extensions/fateweaver/publishers.md +++ /dev/null @@ -1,78 +0,0 @@ -# Publishers - -The FateWeaver extension includes an additional feature called publishers, -which allow you to register a channel that will be automatically logged to -every loop. - -Take our [lift subsystem](../../guide/subsystems/lift) from the guide. -Let's add a public `state` getter: - -:::tabs key:code - -== Kotlin - -```kotlin -val state get() = motor.state -``` - -== Java - -```java -public KineticState getState() { - return motor.getState(); -} -``` - -::: - -Now, in the `onStartButtonPressed` method of our OpMode, -we can register a publisher for the lift's state: - -:::tabs key:code - -== Kotlin - -```kotlin -val stateChannel = FateComponent.createChannel("Lift State", KineticState::class) -FateComponent.registerPublisher(stateChannel, Lift::state) -``` - -== Java - -```java -LogChannel stateChannel = FateComponent.createChannel("LiftState", KineticState.class); -FateComponent.registerPublisher(stateChannel, Lift.INSTANCE::getState); -``` - -::: - -This will automatically publish the lift's state to the log file at the end of every loop. - -There is an overload for `registerPublisher` that takes a -channel name and schema (or class) instead of a channel object, -which could be used as follows: - -:::tabs key:code - -== Kotlin - -```kotlin -FateComponent.registerPublisher("LiftState", KineticState::class, Lift::state) -``` - -== Java - -```java -FateComponent.registerPublisher("LiftState", KineticState.class, Lift.INSTANCE::getState); -``` - -::: - -Publishers are automatically unregistered when the OpMode ends. - -In this example, we use method and property references to simplify the code, -but you can also use lambda expressions. -WPILib has has an amazing explanation of method references and lambda expressions -[here](https://docs.wpilib.org/en/stable/docs/software/basic-programming/functions-as-data.html). -For information on Kotlin method references and lambda expressions, -see [the Kotlin documentation](https://kotlinlang.org/docs/lambdas.html). \ No newline at end of file diff --git a/src/extensions/index.md b/src/extensions/index.md deleted file mode 100644 index eb92432..0000000 --- a/src/extensions/index.md +++ /dev/null @@ -1,21 +0,0 @@ -# NextFTC Extensions - -NextFTC Extensions are a set of libraries that extend the functionality of NextFTC. - -## Pedro Pathing - -This extension provides integration with the -[Pedro Pathing Library](https://pedropathing.com/). -More information about the extension can be found [here](pedro/index). - -## RoadRunner - -This extension provides integration with the -[RoadRunner Library](https://rr.brott.dev/). -More information about the extension can be found [here](roadrunner/index). - -## FateWeaver - -This extension provides integration with the -[FateWeaver Library](https://fate.zharel.gay/). -More information about the extension can be found [here](fateweaver/index). \ No newline at end of file diff --git a/src/extensions/pedro/following-paths.md b/src/extensions/pedro/following-paths.md deleted file mode 100644 index 8857b9f..0000000 --- a/src/extensions/pedro/following-paths.md +++ /dev/null @@ -1,57 +0,0 @@ -# Following Paths - -To follow a path, use the `FollowPath` command. You use this instead of -`follower.followPath`, which you would use if you were not using NextFTC. -The `FollowPath` command waits for the path to finish before continuing, -which means that it will work as expected in sequential groups. - -:::tabs key:code - -== Kotlin - -```kotlin -FollowPath(path) -FollowPath(pathChain) -``` - -== Java - -```java -new FollowPath(path); -new FollowPath(pathChain); -``` - -::: - -## `holdEnd` and `maxPower` - -The `FollowPath` command accepts two additional optional parameters: `holdEnd` -and `maxPower`. The `holdEnd` parameter defaults to `automaticHoldEnd` in -`FollowerConstants`, which itself defaults to `true`. The `maxPower` parameter -defaults to `maxPower` in `FollowerConstants`, which defaults to `1.0`. - -:::tabs key:code - -== Kotlin - -```kotlin -FollowPath(path, holdEnd = true) -FollowPath(path, holdEnd = true, maxPower = 0.5) -``` - -== Java - -```java -new FollowPath(path, true); -new FollowPath(path, true, 0.5); -``` - -::: - -::: danger IMPORTANT - -You **may not** pass `maxPower` without also passing `holdEnd`. This is -because `follower.followPath`, which `FollowPath` uses internally, does not -accept `maxPower` without `holdEnd`. - -::: \ No newline at end of file diff --git a/src/extensions/pedro/getting-started.md b/src/extensions/pedro/getting-started.md deleted file mode 100644 index 3062c11..0000000 --- a/src/extensions/pedro/getting-started.md +++ /dev/null @@ -1,62 +0,0 @@ -# Getting Started - -The first step to using the Pedro extension is to add the Pedro component to -your OpMode. Add the following code to your existing components. - -:::tabs key:code - -== Kotlin - -```kotlin -addComponents( - /* existing components */ - PedroComponent(Constants::createFollower) -) -``` - -== Java - -```java -addComponents( - /* existing components */ - new PedroComponent(Constants::createFollower) -); -``` - -::: - -Adding this does two things: - -- Automatically creates the follower on initialization. -- Automatically updates the follower every loop. - -## Accessing the Follower - -To access the automatically created follower, use `PedroComponent.follower`. -Alternatively, you can use a static import to access the follower directly: - -:::tabs key:code - -== Kotlin - -```kotlin -// at the top of the file: -import dev.nextftc.extensions.pedro.PedroComponent.follower - -// you can then access the follower as follower -// for example: -follower.breakFollowing() -``` - -== Java - -```java -// at the top of the file: -import static dev.nextftc.extensions.pedro.PedroComponent.follower; - -// you can then access the follower as follower() -// for example: -follower().breakFollowing(); -``` - -::: \ No newline at end of file diff --git a/src/extensions/pedro/index.md b/src/extensions/pedro/index.md deleted file mode 100644 index 6226293..0000000 --- a/src/extensions/pedro/index.md +++ /dev/null @@ -1,36 +0,0 @@ -# Pedro Pathing Extension - -This is our extension to add built-in support -for [Pedro Pathing](https://pedropathing.com), a GVF-based path-planning and -following library for FTC. - -## Installation - -In the TeamCode `build.gradle`, go to the `dependencies` block. -Add the following lines: - -::: tabs key:gradle - -== .gradle - -```groovy -implementation 'dev.nextftc.extensions:pedro:1.0.0' -``` - -== .gradle.kts - -```kotlin -implementation("dev.nextftc.extensions:pedro:1.0.0") -``` - -::: - -Then, press the `Sync Now` button that appeared as a banner at the top of your -Gradle file. - -*You're good to go!* - -## Credit - -Thanks so much to the Pedro Pathing team for creating such an amazing pathing -library! \ No newline at end of file diff --git a/src/extensions/pedro/teleop.md b/src/extensions/pedro/teleop.md deleted file mode 100644 index f686dff..0000000 --- a/src/extensions/pedro/teleop.md +++ /dev/null @@ -1,81 +0,0 @@ -# TeleOp Driving - -> [!IMPORTANT] -> This page outlines how to use the Pedro drivetrain command to control your -> robot in TeleOp. It uses Pedro's built-in TeleOp driving feature to -> control a holonomic drivetrain with centripetal force correction. - -> [!TIP] INFO -> Any holonomic drive can be controlled in one of two ways: robot centric or -> field centric. -> -> Robot-centric assumes that each push of the joystick is in relation to the -> local position of the robot—this means that whenever the user pushes the drive -> stick forward, the robot will drive in the direction of its front-facing side. -> -> Field-centric assumes that each push of the joystick is in relation to the -> global position of the robot—this means that whenever the user pushes the -> drive stick forward, the robot will move away from the driver no matter its -> orientation. This is done by rotating the direction of the joystick clockwise by -> an angle measurement equivalent to the global heading of the robot. - -## Usage - -Using `PedroDriverControlled` is as simple as: - -:::tabs key:code - -== Kotlin - -```kotlin -val driverControlled = PedroDriverControlled( - Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.leftStickX, - Gamepads.gamepad1.rightStickX -) -driverControlled() -``` - -== Java - -```java -DriverControlledCommand driverControlled = new PedroDriverControlled( - Gamepads.gamepad1().leftStickY(), - Gamepads.gamepad1().leftStickX(), - Gamepads.gamepad1().rightStickX() -); -driverControlled.schedule(); -``` - -::: - -You can also run it field-centric by passing `false` for the optional `robotCentric` -parameter: - -:::tabs key:code - -== Kotlin - -```kotlin -val driverControlled = PedroDriverControlled( - Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.leftStickX, - Gamepads.gamepad1.rightStickX, - false -) -driverControlled() -``` - -== Java - -```java -DriverControlledCommand driverControlled = new PedroDriverControlled( - Gamepads.gamepad1().leftStickY(), - Gamepads.gamepad1().leftStickX(), - Gamepads.gamepad1().rightStickX(), - false -); -driverControlled.schedule(); -``` - -::: \ No newline at end of file diff --git a/src/extensions/pedro/turning.md b/src/extensions/pedro/turning.md deleted file mode 100644 index c191ef3..0000000 --- a/src/extensions/pedro/turning.md +++ /dev/null @@ -1,62 +0,0 @@ -# Turning - -The Pedro extension also provides two commands for turning: `TurnTo` and -`TurnBy`. - -## `TurnTo` - -The `TurnTo` command turns the robot to a specified angle. It takes an `Angle` -as an argument. - -:::tabs key:code - -== Kotlin - -```kotlin -TurnTo(angle) - -// examples: -TurnTo(180.deg) -TurnTo((PI / 2).rad) -``` - -== Java - -```java -new TurnTo(angle); - -// examples: -new TurnTo(Angle.fromDeg(180)); -new TurnTo(Angle.fromRad(Math.PI / 2)); -``` - -::: - -## `TurnBy` - -The `TurnBy` command turns the robot by a specified angle. Like `TurnTo`, it -also takes an `Angle` as an argument. - -:::tabs key:code - -== Kotlin - -```kotlin -TurnBy(angle) - -// examples: -TurnBy(180.deg) -TurnBy((PI / 2).rad) -``` - -== Java - -```java -new TurnBy(angle); - -// examples: -new TurnBy(Angle.fromDeg(180)); -new TurnBy(Angle.fromRad(Math.PI / 2)); -``` - -::: \ No newline at end of file diff --git a/src/extensions/roadrunner/command-builder.md b/src/extensions/roadrunner/command-builder.md deleted file mode 100644 index 68eb7dc..0000000 --- a/src/extensions/roadrunner/command-builder.md +++ /dev/null @@ -1,77 +0,0 @@ -# Trajectory Command Builder - -The RoadRunner extension provides a `TrajectoryCommandBuilder` class -that makes it easy to create commands that follow trajectories, -similar to `TrajectoryActionBuilder` in the RoadRunner library. - -Once you've set up the RoadRunner extension in your project, -including the relevant changes to your `MecanumDrive` class, -you can create trajectory-following commands using the -`commandBuilder` method of your `MecanumDrive` instance. -It takes an optional `Pose2d` parameter to set the starting pose of the trajectory; -if not provided, it will use the starting pose of the robot -(as set in your localizer or by the `MecanumDrive` constructor). - -Here is an example OpMode that creates and runs a simple trajectory: - -::: tabs key:code -== Kotlin -This example uses the `onInit` property delegate -to initialize the `MecanumDrive` and `Command` properties -once the OpMode is initialized on the Driver Station. - -```kotlin -class CommandBuilderKt : NextFTCOpMode() { - private val startPose = Pose2d(9.0, 111.0, Math.toRadians(-90.0)) - private val scorePose = Pose2d(16.0, 128.0, Math.toRadians(-45.0)) - - val drive: MecanumDrive by onInit { - MecanumDrive(hardwareMap, startPose) - } - - // the onInit blocks are executed in the order they are defined, - // so `drive` will be initialized before `driveCommand`. - val driveCommand: Command by onInit { - drive.commandBuilder(startPose) - .splineTo(scorePose.position, scorePose.heading) - .build() - } - - override fun onStartButtonPressed() { - driveCommand.schedule() - } -} -``` - -== Java -```java -public class CommandBuilder extends NextFTCOpMode { - private final Pose2d startPose = new Pose2d(9.0, 111.0, Math.toRadians(-90.0)); - private final Pose2d scorePose = new Pose2d(16.0, 128.0, Math.toRadians(-45.0)); - - MecanumDrive drive; - Command driveCommand; - - @Override - public void onInit() { - drive = new MecanumDrive(hardwareMap, startPose); - - driveCommand = drive.commandBuilder(startPose) - .splineTo(scorePose.position, scorePose.heading) - .build(); - } - - @Override - public void onStartButtonPressed() { - driveCommand.schedule(); - } -} -``` - -If you are not using any `Components`, -you can omit the constructors and `addComponents` calls, -like in the above examples. - -Otherwise, move on to the next example, -which shows how to use the RoadRunner extension -with other components. \ No newline at end of file diff --git a/src/extensions/roadrunner/index.md b/src/extensions/roadrunner/index.md deleted file mode 100644 index 2a43b77..0000000 --- a/src/extensions/roadrunner/index.md +++ /dev/null @@ -1,107 +0,0 @@ -# RoadRunner Extension - -This extension provides integration with the -[RoadRunner Library](https://rr.brott.dev/) -and [QuickStart](https://github.com/acmerobotics/road-runner-quickstart). - -## Installation - -Add the following line to your `build.gradle` file -to install the RoadRunner extension: - -```groovy -implementation 'dev.nextftc.extensions:roadrunner:1.0.0' -``` - -::: warning -Version `1.0.0` supports RoadRunner `1.0.1` -and RoadRunner FTC `0.1.25`, and is not compatible with earlier versions. - -This guide also assumes you are using QuickStart for RoadRunner -and its `MecanumDrive` class. -::: - -## QuickStart Additions - -To use the RoadRunner extension, -make the following additions to the QuickStart code. - -First, make your `MecanumDrive` class extend `NextFTCMecanumDrive`: - -```java -public class MecanumDrive extends NextFTCMecanumDrive { - // ... -} -``` - -You will probably get an error about unimplemented members. -You can copy the following implementations into your class: - -```java - HolonomicController controller = new HolonomicController( - PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain, - PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain - ); - - @NotNull - @Override - public HolonomicController getController() { - return controller; - } - - @NotNull - @Override - public Pose2d getPose() { - return localizer.getPose(); - } - - @Override - public void setDrivePowersFF(@NotNull PoseVelocity2dDual

- An X-Drive concept from VEX -
An X-Drive concept from VEX -
-
-::: - -A mecanum drivetrain is a type of holonomic drive that -utilizes [mecanum wheels](https://en.wikipedia.org/wiki/Mecanum_wheel) for -movement. - -:::details Mecanum Drive - -
- A custom parallel plate mecanum drivetrain -
A custom parallel plate mecanum drivetrain
-
-::: - -To control a holonomic drivetrain in TeleOp, see -the [holonomic drivetrain](/nextftc/hardware/drivetrain-commands/holonomic) -page. - -### Differential (Tank) Drivetrains - -A differential drivetrain is one that has two motors or motor groups on either -side of the robot. Each side acts as a connected set or motor group. - -:::details Differential Drive - -
- CAD by Hrithik and Sanjay from FTC Team 16439 -
CAD by Hrithik and Sanjay from FTC Team 16439
-
-::: - -To control a differential drivetrain in TeleOp, see the [differential -drivetrain](/nextftc/hardware/drivetrain-commands/differential) page. - -## Scalars - -All drivetrain commands extend `DriverControlledCommand`, which provides scalars. - -:::tabs key:code - -== Kotlin - -```kotlin -val driverControlled: DriverControlledCommand = MecanumDriverControlled(...) - -driverControlled.scalar = 0.5 // makes it half the speed -``` - -== Java - -```java -DriverControlledCommand driverControlled = new MecanumDriverControlled(...); - -driverControlled.setScalar(0.5); // makes it half the speed -``` - -::: diff --git a/src/nextftc/hardware/drivetrain-commands/differential.md b/src/nextftc/hardware/drivetrain-commands/differential.md deleted file mode 100644 index 84d1c2b..0000000 --- a/src/nextftc/hardware/drivetrain-commands/differential.md +++ /dev/null @@ -1,107 +0,0 @@ -# Differential (Tank) Drivetrain - -> [!IMPORTANT] -> This page outlines how to use the differential drivetrain commands to control your robot in TeleOp. - -> [!TIP] INFO -> For a differential drive, there are two types of drive systems. You can use the tank and arcade control schemes with a differential drive. -> -> Arcade drive uses a y-value input from the controller and a value from the turn stick. We know that when the turn stick is pushed left, the right side should move forward and the left side should move backwards. Therefore, since pushing the turn stick to the left returns a negative value, it should be added to the left speed and subtracted from the right speed. -> -> Tank drive uses a y-value input from the left and right sticks. The sticks control their respective side of the robot. - -## Usage - -First, you need to create your motors. Let's create variables for them: - -:::tabs key:code -== Kotlin - -```kotlin -private val frontLeftMotor = MotorEx("front_left").breakMode().reversed() -private val frontRightMotor = MotorEx("front_right").breakMode() -private val backLeftMotor = MotorEx("back_left").breakMode().reversed() -private val backRightMotor = MotorEx("back_right").breakMode() - -private val leftMotors = MotorGroup(frontLeftMotor, backLeftMotor); -private val rightMotors = MotorGroup(frontRightMotor, backRightMotor); -``` - -== Java - -```java -private MotorEx frontLeftMotor = new MotorEx("front_left").breakMode().reversed(); -private MotorEx frontRightMotor = new MotorEx("front_right").breakMode(); -private MotorEx backLeftMotor = new MotorEx("back_left").breakMode().reversed(); -private MotorEx backRightMotor = new MotorEx("back_right").breakMode(); - -private MotorGroup leftMotors = new MotorGroup(frontLeftMotor, backLeftMotor); -private MotorGroup rightMotors = new MotorGroup(frontRightMotor, backRightMotor); -``` - -::: - -Lastly, in `onStartButtonPressed()`, we will create and schedule our command. - -> [!TIP] -> If you are only using two motors, you can just pass your motors to the command instead of motor groups. - -You can run it as a tank drive: - -:::tabs key:code -== Kotlin - -```kotlin -driverControlled = DifferentialTankDriverControlled( - leftMotors, - rightMotors, - Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.rightStickY -) -driverControlled() -``` - -== Java - -```java -driverControlled = new DifferentialTankDriverControlled( - leftMotors, - rightMotors, - Gamepads.gamepad1().leftStickY(), - Gamepads.gamepad1().rightStickY() -); -driverControlled.schedule(); -``` - -::: - -Or as an arcade drive: - -:::tabs key:code -== Kotlin - -```kotlin -driverControlled = DifferentialArcadeDriverControlled( - leftMotors, - rightMotors, - Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.rightStickX -) -driverControlled() -``` - -== Java - -```java -driverControlled = new DifferentialArcadeDriverControlled( - leftMotors, - rightMotors, - Gamepads.gamepad1().leftStickY(), - Gamepads.gamepad1().rightStickX() -); -driverControlled.schedule(); -``` - -::: - -That's it! Now you are able to control your differential drivetrain using a gamepad. diff --git a/src/nextftc/hardware/drivetrain-commands/holonomic.md b/src/nextftc/hardware/drivetrain-commands/holonomic.md deleted file mode 100644 index 467501d..0000000 --- a/src/nextftc/hardware/drivetrain-commands/holonomic.md +++ /dev/null @@ -1,151 +0,0 @@ -# Holonomic Drivetrain - -> [!IMPORTANT] -> This page outlines how to use the mecanum drivetrain command to control your -> robot in TeleOp. Even though it has mecanum in the name, it works for x-drives -> as well. - -> [!TIP] INFO -> Any holonomic drive can be controlled in one of two ways: **robot centric** or -**field centric**. -> -> Robot-centric assumes that each push of the joystick is in relation to the -> local position of the robot—this means that whenever the user pushes the drive -> stick forward, the robot will drive in the direction of its front-facing side. -> -> Field-centric assumes that each push of the joystick is in relation to the -> global position of the robot—this means that whenever the user pushes the -> drive -> stick forward, the robot will move away from the driver no matter its -> orientation. This is done by rotating the direction of the joystick clockwise -> by -> an angle measurement equivalent to the global heading of the robot. - -## Usage - -First, we need to create the motors. Let's create variables for them: - -:::tabs key:code -== Kotlin - -```kotlin -private val frontLeftMotor = MotorEx("front_left").breakMode().reversed() -private val frontRightMotor = MotorEx("front_right").breakMode() -private val backLeftMotor = MotorEx("back_left").breakMode().reversed() -private val backRightMotor = MotorEx("back_right").breakMode() -``` - -== Java - -```java -private MotorEx frontLeftMotor = new MotorEx("front_left").breakMode(). -reversed(); -private MotorEx frontRightMotor = new MotorEx("front_right").breakMode(); -private MotorEx backLeftMotor = new MotorEx("back_left").breakMode().reversed(); -private MotorEx backRightMotor = new MotorEx("back_right").breakMode(); -``` - -::: - -Then, we'll create a variable for the imu. **Only do this if you are using -field-centric driving.** - -:::tabs key:code -== Kotlin - -```kotlin -private val imu = IMUEx("imu", Direction.UP, Direction.FORWARD).zeroed() -``` - -== Java - -```java -private IMUEx imu = new IMUEx("imu", Direction.UP, Direction.FORWARD).zeroed() -``` - -::: - - -Lastly, in `onStartButtonPressed()`, we will create and schedule our command. - -You can run it robot-centric: - -:::tabs key:code -== Kotlin - -```kotlin -driverControlled = MecanumDriverControlled( - frontLeftMotor, - frontRightMotor, - backLeftMotor, - backRightMotor, - -Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.leftStickX, - Gamepads.gamepad1.rightStickX -) -driverControlled() -``` - -== Java - -```java -driverControlled = new MecanumDriverControlled( - frontLeftMotor, - frontRightMotor, - backLeftMotor, - backRightMotor, - Gamepads.gamepad1().leftStickY().negate(), - Gamepads.gamepad1().leftStickX(), - Gamepads.gamepad1().rightStickX() -); -driverControlled.schedule(); -``` - -::: - -Or field-centric: - -:::tabs key:code -== Kotlin - -```kotlin -driverControlled = MecanumDriverControlled( - frontLeftMotor, - frontRightMotor, - backLeftMotor, - backRightMotor, - -Gamepads.gamepad1.leftStickY, - Gamepads.gamepad1.leftStickX, - Gamepads.gamepad1.rightStickX, - FieldCentric(imu) -) -driverControlled() -``` - -== Java - -```java -driverControlled = new MecanumDriverControlled( - frontLeftMotor, - frontRightMotor, - backLeftMotor, - backRightMotor, - Gamepads.gamepad1().leftStickY().negate(), - Gamepads.gamepad1().leftStickX(), - Gamepads.gamepad1().rightStickX(), - new FieldCentric(imu) -); -driverControlled.schedule(); -``` - -> [!NOTE] -> In both robot-centric and field-centric modes we negate `leftStickY`. This is -> a common FTC convention because gamepads report a negative Y when the stick is -> pushed forward and a positive Y when it’s pulled back. Use the `.negate()` -> helper (for example `Gamepads.gamepad1.leftStickY.negate()`) to apply this -> adjustment. - -::: - -That's it! Now you are able to control your holonomic drivetrain using a -gamepad. diff --git a/src/nextftc/hardware/motor-and-servo-commands/runtostate.md b/src/nextftc/hardware/motor-and-servo-commands/runtostate.md deleted file mode 100644 index a5035ed..0000000 --- a/src/nextftc/hardware/motor-and-servo-commands/runtostate.md +++ /dev/null @@ -1,153 +0,0 @@ -# `RunToState` - -`RunToState`, along with its children `RunToPosition` and `RunToVelocity`, -allow you to move a `ControlSystem` (from [NextControl](/control)) to a -desired state. It is commonly used with `Controllables`, such as -`MotorEx`. When a -`RunToState` -command is -scheduled, there are -two steps: - -1. Set the goal of the `ControlSystem` to the desired state. -2. Wait until the `ControlSystem` is at the desired state. - -Notice that `RunToState` is never directly setting the motor power, as -that's the responsibility of the user, usually in `periodic` or `onUpdate`. - -The constructor of `RunToState` takes a `ControlSystem` and a goal, along -with (optionally) a tolerance. - -:::tabs key:code - -== Kotlin - -```kotlin -RunToState( - controlSystem, - KineticState( - posTarget, - velTarget, - accelTarget - ) -) -``` - -== Java - -```java -new RunToState( - controlSystem, - new KineticState( - posTarget, - velTarget, - accelTarget - ) -) -``` - -::: - -If you do not care about one of the targets, it is usually best to set it to -zero. - -You can also pass a tolerance. The tolerance determines when the command -will finish. It is checked using `controlSystem.isWithinTolerance(tolerance: -KineticState)`. If you do not care about one of the tolerances (e.g., -acceleration in position control,) you can set it to `Double.POSITIVE_INFINITY`. - -:::tabs key:code - -== Kotlin - -```kotlin -RunToState( - controlSystem, - goal = KineticState( - posTarget, - velTarget, - accelTarget - ), - tolerance = KineticState( - posTolerance, - velTolerance, - accelTolerance - ) -) -``` - -== Java - -```java -new RunToState( - controlSystem, - new KineticState( - posTarget, - velTarget, - accelTarget - ), - new KineticState( - posTolerance, - velTolerance, - accelTolerance - ) -) -``` - -::: - -## `RunToPosition` - -`RunToPosition` is a subclass of `RunToState` that makes position control -easier. Instead of passing the goal as a `KineticState`, you can just pass -the position target. The velocity and acceleration targets default to zero. -Additionally, you only have to pass the position tolerance. The velocity and -acceleration tolerances default to 5 and `Double.POSITIVE_INFINITY`, -respectively. The position tolerance defaults to 10. Alternatively, you may -pass the tolerance as a full `KineticState`, if desired. - -:::tabs key:code - -== Kotlin - -```kotlin -RunToPosition(controlSystem, posTarget) -RunToPosition(controlSystem, posTarget, posTolerance) -RunToPosition(controlSystem, posTarget, fullTolerance) -``` - -== Java - -```java -new RunToPosition(controlSystem, posTarget) -new RunToPosition(controlSystem, posTarget, posTolerance) -new RunToPosition(controlSystem, posTarget, fullTolerance) -``` - -::: - -## `RunToVelocity` - -`RunToVelocity` is very similar to `RunToPosition`, except for velocity -control. The position and acceleration tolerances default to `Double. -POSITIVE_INFINITY`. The velocity tolerance defaults to 5. - -:::tabs key:code - -== Kotlin - -```kotlin -RunToVelocity(controlSystem, velTarget) -RunToVelocity(controlSystem, velTarget, velTolerance) -RunToVelocity(controlSystem, velTarget, fullTolerance) -``` - -== Java - -```java -new RunToVelocity(controlSystem, velTarget) -new RunToVelocity(controlSystem, velTarget, velTolerance) -new RunToVelocity(controlSystem, veltarget, fullTolerance) -``` - -::: diff --git a/src/nextftc/hardware/motor-and-servo-commands/setpositions.md b/src/nextftc/hardware/motor-and-servo-commands/setpositions.md deleted file mode 100644 index 9f3cebc..0000000 --- a/src/nextftc/hardware/motor-and-servo-commands/setpositions.md +++ /dev/null @@ -1,40 +0,0 @@ -# `SetPositions` - -`SetPositions`, along with `SetPosition`, are used to set the position of a -`Positionable` (such as a `ServoEx`). - -The constructor of `SetPositions` takes a `vararg Pair`. - -:::tabs key:code - -== Kotlin - -```kotlin -SetPositions(servo1 to position1, servo2 to position2, ...) -``` - -== Java - -```java -new SetPositions(servo1.to(position1), servo2.to(position2), ...) -``` - -::: - -Alternatively, for a single servo, you can use `SetPosition`: - -:::tabs key:code - -== Kotlin - -```kotlin -SetPosition(servo, position) -``` - -== Java - -```java -new SetPosition(servo, position) -``` - -::: \ No newline at end of file diff --git a/src/nextftc/hardware/motor-and-servo-commands/setpower.md b/src/nextftc/hardware/motor-and-servo-commands/setpower.md deleted file mode 100644 index af314b2..0000000 --- a/src/nextftc/hardware/motor-and-servo-commands/setpower.md +++ /dev/null @@ -1,19 +0,0 @@ -# `SetPower` - -`SetPower` sets the power of a `Powerable` (e.g., a `MotorEx` or `CRServoEx`). - -:::tabs key:code - -== Kotlin - -```kotlin -SetPower(powerable, power) -``` - -== Java - -```java -new SetPower(powerable, power) -``` - -::: \ No newline at end of file diff --git a/src/nextftc/hardware/motors-and-servos.md b/src/nextftc/hardware/motors-and-servos.md deleted file mode 100644 index a3b40ec..0000000 --- a/src/nextftc/hardware/motors-and-servos.md +++ /dev/null @@ -1,23 +0,0 @@ -# Introduction - -NextFTC has a few motor and servo wrappers to make your life easier. There -are three interfaces: - -1. `Powerable` has a power that can be get and set. -2. `Positionable` has a position that can be get and set. The position in a - `Positionable` can be directly set (e.g., the target position), like in a - servo. -3. `Controllable`, which extends `Powerable`, has a current position and - velocity. - -The interfaces, along with the commands, are in the `hardware` module. The -implementations are in the `ftc` module, which has a compile-only -dependency on the `hardware` module. - -All implementations, such as `MotorEx` and `ServoEx`, take a supplier -that is lazily evaluated instead of directly taking the hardware to wrap. This -allows you to construct it on construction of your OpMode/subsystem instead -of waiting until init. - -Additionally, all implementations implement caching on all writes with a -configurable cache tolerance that defaults to 0.01. \ No newline at end of file diff --git a/src/nextftc/hardware/motors-and-servos/cr-servos.md b/src/nextftc/hardware/motors-and-servos/cr-servos.md deleted file mode 100644 index 2c0a030..0000000 --- a/src/nextftc/hardware/motors-and-servos/cr-servos.md +++ /dev/null @@ -1,79 +0,0 @@ -# Continuous Rotation Servos - -`CRServoEx` wraps a `CRServo` exactly like a `ServoEx` wraps a `Servo` but implements `Powerable` instead of `Positionable`. - -## Declarations - -You can declare `CRServoEx` in the following manner, much like a normal `ServoEx`: - -:::tabs key:code - -== Kotlin - -```kotlin -val crServoEx: CRServoEx = CRServoEx("cr_servo_name") - -// Alternatively -val crServoEx: CRServoEx = CRServoEx { crServo } - -// Alternatively -val crServoEx: CRServoEx = CRServoEx(crServo) - -``` - -== Java -```java -CRServoEx crServoEx = new CRServoEx("cr_servo_name"); - -// Alternatively -CRServoEx crServoEx = new CRServoEx(() -> crServo); - -// Alternatively -CRServoEx crServoEx = new CRServoEx(crServo); - -``` - -::: - -Additionally you can pass a cache tolerance (default is 0.01), exactly like a normal servo. - -:::tabs key:code - -== Kotlin -```kotlin -var crServoEx = CRServoEx("cr_servo_name", cacheTolerance) -var crServoEx = CRServoEx(cacheTolerance) { crServo } -var crServoEx = CRServoEx(crServo, cacheTolerance) -``` -== Java -```java -CRServoEx crServoEx = new CRServoEx("cr_servo_name", cacheTolerance); -CRServoEx crServoEx = new CRServoEx(cacheTolerance, () -> crServo); -CRServoEx crServoEx = new CRServoEx(crServo, cacheTolerance); -``` -::: - -## Usage - -`CRServoEx` has only a `power` property to set or get the power of the motor. Like a `MotorEx` the power can vary from -1 to 1. - -:::tabs key:code - -== Kotlin - -```kotlin -crServoEx.power = 0.0 // To turn off -crServoEx.power = -1.0 // To spin in reverse fully -crServoEx.power = 0.5 // To spin forward partially -``` - -== Java - -```java -crServoEx.setPower(0.0); // To turn off -crServoEx.setPower(-1.0); // To spin in reverse fully -crServoEx.setPower(0.5); // To spin forward partially -``` - -::: - diff --git a/src/nextftc/hardware/motors-and-servos/feedback-servos.md b/src/nextftc/hardware/motors-and-servos/feedback-servos.md deleted file mode 100644 index cd94f76..0000000 --- a/src/nextftc/hardware/motors-and-servos/feedback-servos.md +++ /dev/null @@ -1,135 +0,0 @@ -# Feedback Servos - -Feedback servos can be one of two types: `FeedbackCRServoEx` or `FeedbackServoEx`. These wrap respectively a `CRServoEx` and a `ServoEx`. They allow you to read the position of the servo from the 4th analog pin. - -## FeedbackServoEx - -:::tabs key:code - -== Kotlin - -```kotlin -val servo: FeedbackServoEx = FeedbackServoEx("analog-name", "servo-name", 0.01) - -// Alternatively -val servo: FeedbackServoEx = FeedbackServoEx { - cacheTolerance = 0.01, // Or whatever you'd like to use - feedbackFactory = { ActiveOpMode.hardwareMap.analogInput.get("analog-name") }, - servoFactory = { ActiveOpMode.hardwareMap.servo.get("servo-name") } -} - -// Alternatively -val analogInput: AnalogInput = ActiveOpMode.hardwareMap.analogInput.get("analog-name") -val servoFactory: Servo = ActiveOpMode.hardwareMap.servo.get("servo-name") -val servo: FeedbackServoEx = FeedbackServoEx(analogInput, servoFactory, 0.01) // Using cache tolerance = 0.01 -``` -== Java -```java -FeedbackServoEx servo = new FeedbackServoEx("analog-name", "servo-name", 0.01); - -// Alternatively -FeedbackServoEx servo = new FeedbackServoEx( - 0.01, // Or your preferred cache tolerance - () -> { ActiveOpMode.hardwareMap().analogInput.get("analog-name") }, - () -> { ActiveOpMode.hardwareMap().servo.get("servo-name") } -); - -// Alternatively -AnalogInput analogInput = ActiveOpMode.hardwareMap().analogInput.get("analog-name"); -Servo servoFactory = ActiveOpMode.hardwareMap().servo.get("servo-name"); -FeedbackServoEx servo = new FeedbackServoEx(analogInput, servoFactory, 0.01); -``` -== -::: - -The caching tolerance is the same for any normal `ServoEx` or other implementation. - - -## FeedbackCRServoEx - -:::tabs key:code - -== Kotlin - -```kotlin -val servo: FeedbackCRServoEx = FeedbackCRServoEx("analog-name", "servo-name", 0.01) - -// Alternatively -val servo: FeedbackCRServoEx = FeedbackCRServoEx { - cacheTolerance = 0.01, // Or whatever you'd like to use - feedbackFactory = { ActiveOpMode.hardwareMap.analogInput.get("analog-name") }, - servoFactory = { ActiveOpMode.hardwareMap.crservo.get("servo-name") } -} - -// Alternatively -val analogInput: AnalogInput = ActiveOpMode.hardwareMap.analogInput.get("analog-name") -val servoFactory: CRServo = ActiveOpMode.hardwareMap.crservo.get("servo-name") -val servo: FeedbackCRServoEx = FeedbackCRServoEx(analogInput, servoFactory, 0.01) // Using cache tolerance = 0.01 -``` -== Java -```java -FeedbackCRServoEx servo = new FeedbackCRServoEx("analog-name", "servo-name", 0.01); - -// Alternatively -FeedbackCRServoEx servo = new FeedbackCRServoEx( - 0.01, // Or your preferred cache tolerance - () -> { ActiveOpMode.hardwareMap().analogInput.get("analog-name") }, - () -> { ActiveOpMode.hardwareMap().crservo.get("servo-name") } -); - -// Alternatively -AnalogInput analogInput = ActiveOpMode.hardwareMap.analogInput.get("analog-name"); -CRServo servoFactory = ActiveOpMode.hardwareMap.crservo.get("servo-name"); -FeedbackCRServoEx servo = new FeedbackCRServoEx(analogInput, servoFactory, 0.01); -``` -== -::: - -Same deal as `FeedbackServoEx` with caching. - -## Features - -Both `FeedbackCRServoEx` and `FeedbackServoEx` share the same `currentPosition` property This returns the current position of the servo in radians from 0 to 2 pi, and it is an absolute encoder so it will wrap over. - -## Example Tracking - -:::tabs key:code - -== Kotlin -```kotlin -var totalAngle:Double = 0.0 // This is your angle of the servo -var previousAngle:Double = 0.0 // This is the previous loop's servo position - -fun updatePosition() { - val currentAngle = servo.currentPosition - var deltaAngle = currentAngle - previousAngle - - if(deltaAngle > Math.PI) deltaAngle -= 2 * Math.PI - else if (deltaAngle < -Math.PI) deltaAngle += 2 * Math.PI - - totalAngle += deltaAngle - previousAngle = currentAngle -} -``` - -== Java - -```java -double totalAngle = 0.0; // This is your angle of the servo -double previousAngle = 0.0; // This is the previous loop's servo position - -void updatePosition() { - double currentAngle = servo.getCurrentPosition(); - double deltaAngle = currentAngle - previousAngle; - - if (deltaAngle > Math.PI) deltaAngle -= 2 * Math.PI; - else if (deltaAngle < -Math.PI) deltaAngle += 2 * Math.PI; - - totalAngle += deltaAngle; - previousAngle = currentAngle; -} -``` -== -::: - -This code would result in the tracked position of the servo (beyond 0 to 2 pi). This is incredibly useful for `FeedbackCRServoEx`. However be warned that the analog wrap may cause issues, but this is merely an example. diff --git a/src/nextftc/hardware/motors-and-servos/motors.md b/src/nextftc/hardware/motors-and-servos/motors.md deleted file mode 100644 index d058afb..0000000 --- a/src/nextftc/hardware/motors-and-servos/motors.md +++ /dev/null @@ -1,105 +0,0 @@ -# Motors - -NextFTC has wrappers for your motors that add several useful features, such as -power caching and encoder offsets. All motors implement the `Controllable` -and `Powerable`interfaces. - -## `MotorEx` - -`MotorEx` is NextFTC's wrapper over a `DcMotorEx`. To create one, you can do one -of the following: - -:::tabs key:code -== Kotlin - -```kotlin -val motorEx = MotorEx { dcMotorEx } -val motorEx = MotorEx(dcMotorEx) -val motorEx = MotorEx("motor_name") -``` - -== Java - -```java -MotorEx motorEx = new MotorEx(() -> dcMotorEx); -MotorEx motorEx = new MotorEx(dcMotorEx); -MotorEx motorEx = new MotorEx("motor_name"); -``` - -::: - -`MotorEx` has several modifiers that can be used to change the behavior. All -modifiers are mutating and return the `MotorEx`. The order in which the -modifiers are applied will not affect the behavior. - -| Modifier | Description | -|-------------------------|-----------------------------------------| -| `.zeroed()` | Resets the position | -| `.atPosition(position)` | Sets the current position to a position | -| `.reversed()` | Reverses the direction of the motor | -| `.floatMode()` | Sets the zero power behavior to float | -| `.breakMode()` | Sets the zero power behavior to break | - -For example: - -:::tabs key:code - -== Kotlin - -```kotlin -MotorEx("motor_name") - .zeroed() - .reversed() - .breakMode() -``` - -== Java - -```java -new MotorEx("motor_name") - .zeroed() - .reversed() - .breakMode(); -``` - -::: - -## `MotorGroup` - -`MotorGroup` is a container for multiple `Controllables` (e.g. `MotorEx`) that -are mechanically linked. The first motor passed to it is the *leader* and the -rest are *followers.* The leader is the one whose encoder will be read. - -As `MotorGroup` implements `Controllable`, it can be passed anywhere you would -normally pass a `MotorEx`. Creating a `MotorGroup` is easy: - -:::tabs key:code -== Kotlin - -```kotlin -val myMotorEx = MotorEx("motor1") -val myMotorEx2 = MotorEx("motor2").reversed() -val myMotorGroup = MotorGroup(myMotorEx, myMotorEx2) - -// or inline: -val myMotorGroup = MotorGroup( - MotorEx("motor1"), - MotorEx("motor2").reversed() -) -``` - -== Java - -```java -MotorEx myMotorEx = new MotorEx("motor1"); -MotorEx myMotorEx2 = new MotorEx("motor2").reversed(); -MotorGroup myMotorGroup = new MotorGroup(myMotorEx, myMotorEx2); - -// or inline: -MotorGroup myMotorGroup = new MotorGroup( - new MotorEx("motor1"), - new MotorEx("motor2").reversed() -); -``` - -::: \ No newline at end of file diff --git a/src/nextftc/hardware/motors-and-servos/servos.md b/src/nextftc/hardware/motors-and-servos/servos.md deleted file mode 100644 index db7bc16..0000000 --- a/src/nextftc/hardware/motors-and-servos/servos.md +++ /dev/null @@ -1,46 +0,0 @@ -# Servos - -To control your servos, you can use NextFTC's `ServoEx` class. A `ServoEx` -wraps a `Servo` and implements `Positionable`. - -:::tabs key:code - -== Kotlin - -```kotlin -ServoEx { servo } -ServoEx(servo) -ServoEx("servo_name") -``` - -== Java - -```java -new ServoEx(() -> servo) -new ServoEx(servo) -new ServoEx("servo_name") -``` - -::: - -Additionally, you can pass a position caching tolerance (defaults to 0.01): - -:::tabs key:code - -== Kotlin - -```kotlin -ServoEx(cacheTolerance) { servo } -ServoEx(servo, cacheTolerance) -ServoEx("servo_name", cacheTolerance) -``` - -== Java - -```java -new ServoEx(cacheTolerance, () -> servo) -new ServoEx(servo, cacheTolerance) -new ServoEx("servo_name", cacheTolerance) -``` - -::: \ No newline at end of file diff --git a/src/nextftc/index.md b/src/nextftc/index.md deleted file mode 100644 index e27d68f..0000000 --- a/src/nextftc/index.md +++ /dev/null @@ -1,37 +0,0 @@ -# NextFTC - -> [!TIP] -> If you are looking to learn NextFTC, take a look at the [guide](/guide/about). - -NextFTC is our command-based framework. It has three building-blocks: commands, -subsystems, and components. It also has an optional hardware module that -provides built-in, ready-to-use hardware commands for almost all of your -hardware needs. - -## Installation - -In the TeamCode `build.gradle`, go to the `dependencies` block. -Add the following lines: - -::: tabs key:gradle - -== .gradle - -```groovy -implementation 'dev.nextftc:ftc:1.0.1' -implementation 'dev.nextftc:hardware:1.0.1' // If you would like to use the hardware module -``` - -== .gradle.kts - -```kotlin -implementation("dev.nextftc:ftc:1.0.1") -implementation("dev.nextftc:hardware:1.0.1") // If you would like to use the hardware module -``` - -::: - -Then, press the `Sync Now` button that appeared as a banner at the top of your -Gradle file. - -*You're good to go!* diff --git a/src/public/apple-touch-icon.png b/src/public/apple-touch-icon.png deleted file mode 100644 index 17311e06a9587a4471d3b74db0893d47b9ebed91..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4075 zcmeHK={wX7_a9>n#;y>_8qpZpw+vrP2uUbgN`^7Egt3PiLb8N1#oaJMD6&sk2B~C> zWh#|5WgW6aW64+^_jUc={QiUI#q;9qpL4Eroj2#4GD5-2-wZsHVmZJDTEb;434osM&>_Xj z99&q(pWeP)TH+XMHt>X#-iSE(0<^#Z2k45}MWg@^@XwCQ&@UuEAj;CcN&l7bE4cPB zR>anurY+ga`|Bg+_N@;sjHCaGY}e+-ciPq7(1ulk;^GoISYOV>bL&S&2iLGBq~ise znsjznR+P814X&>@=bi1`3Xgg{r0e%yJ59xNakm|Nq2!|0V#uQpsg9~{~L{pw(;eS3q4-duL+V{VB6)W8xc zM&DadcG9MKa8hwG*J#xf>)xe?US}cVV9n=g9rMm=2#ssJ?wM)r0n!&-<{J5IR^|9*+BQp5* z7Y|Cv)`H(h6(UFDkdHF%-LpT|Y{V(Juoc9#4uy|dvLghrBc&F$?2p&*#x41NbMCXD z;)gzs0PbLs7(I?~Zc_Q2D+~V-Uu5XB`Q!JSdaVTk(bTN8JV!6fdQ=}_SgPfL>yFwL zUH8Td_)&I7e8d&wY?Wm&7B=L_4o_$Fz+IHM9F1hv<8`d5NCNa$V>RUSF6Z-LhKjzBGm(LUV-(%A`1CHw+kiVA^}5plLlEWM`ZDc6o+kTsEf zGZ&(m8>SxtK zT^%KkPqlp+E)f>~evyZ*=^U+4YmEYD4%hR0d$~@Aj%_7MQ11G3?95H1(k`3K=;oEB zgAjJbuZC*b3zUVpHeOen$Sx*z%GiuCE)wd?twFSEW1ppuTbd&1I!7C-tQyY{Be;s7 z3T@OQKo!L&Y6$71|KM+1UBA>>K1N3}+|i z5}VG{c<7D9F}t^%TdqiA`i&S~ro0dLC*8pYI>WrI?=X7hh-+hZD#0jbIu?F$svnF! zUxCDtA3_-%z8>mkV(wjk+@VFjQPg(-y#VKf7+nKB-lB!!iTIae69)T3-GM;) z*EDt9Gn_>L(&YZXkct^mazm`DEAS zIUw`NSj+FDzgCAPb@?$1yaoC~Hx7#gPwN9RMs`hW^saU2g-J2+o_WqyE<>>L%Xfuj zGw_^tXMIrH!;(?E!wLG6KI7ZQb(#g>^Uzdth`&g>6yoi$hGpBa!f@{7B^*kvv) z0IYyQLw0}cHdj6JMtzR@!UtoG==hF^DeJ4SU*azCHj8!^Cie1}d~JV^BX~_ z%9bw0G5JClS`EJm-#qY)qrVt@+s$76rXZ$UuY9JqOJ@0PC)La*?sfU*TK04~&O&q9 ze!^|>W>PzM($E{oPMS5Ny5@|3)eL=8KQd7eGZS8>PWl+AcbTWez!hyoPtO44VUQq) zJLm9UZ9V+Cjg}S#>4YVTf5a@qO&70ijKOW@(U^&J6fbcxfYCmUsb%W%&|yu1ET3re zFQFcDH5i#XxN~lqWx((EUUh1P zkNPVCp~G`Q$kh+)0n1o6kk~42 zk*+p#-oLUXuxU{KidgB34I5PW5r6xar{CNI_k&D-xtQM7sr>4d_n*gTzS7>8o_>{f zF#aHAEdi0pH&B-C9fk?kldpFb9sQ?H!S%%j{PtpIjbg`h|2pMt_z%ayBkqAQO&iaP zij?)aurYTHabIn3Z*)&!EphT3E6!(b`>yv3bY|Eb8QjSSTJOx%za7vhhawJvwWMogZredv{Z%|m(eW6v; zJVzbiwCbnt*em%b zjTEpEXWR-*p8d+^%)N>uRP9VHARg`K6{M2;M0?)F4G83?TIe`X*JL+bm|nI`#@MTA zq4F3h1H_Az^~r25JzNI!cf{G~4Sa4fWxUWY z7r`FKFf*GHrYP6BjXOd7?u_@u0;0Z>ilI^?;do{Ew4~ZxAu4Ohmc+xJ`89pf!VcZb z@shcQi5Q@mDLj%ipsvc^;kEW2_{e&-k}N{|8@6Z>JkhpXEJjX+Qi0frmLZ@A?3A{I zsVs676*5HG_lmmt_xweA0VEzi7y{3Pp_P>!m)#0I)+CGt8P>SM*bsRU2U-YbLXtIJ zH~R!q0Jult$DXRCzZu7SGLGUE>1w4IGpwM}W}7wNMkXKz9(6Fj$5Z`KQuMKnE%e_S zn{CTa^M_iA;j&cJm6FL+Z<5b|eZ=hAcHZcS?}KN{hI5`suN?okx%re|=tmNxt()gX zLKk0$vj>SEi_T)&VD!)l+N;2RW|S=+FOm;30+(Bymf%9gTGki|3cf4Zs!CfsZ7CKmkoAD2l(TGZ&u zuVy8R?JDy&O!Ilr;1i|KgdMHCj7088=r}kX_yqgYq)y%FE^5{CNl|@L{Jt$bo-FV# zKrF%+VS;tP?j5#K7wY3N%?3uY(?ekah!crV|Hhqv=zZl*0TPmnTu^EtS(XVbHO)Sxl+czns+eo64p z6&0fxpjU=QI+6{(h(-eEnaA7u`oj$L|L%6A?^;8 zH8c#g$*9>J2U8SDx_pbH*6He<+)N2P!LeMmjU*0#tRR99iW=8}@<{|>aLhqBdf|NSfFXIY~i!+#U9GK?4g;Y9lABY;Q0#VejNnf%Q3Eg{kPo<#8i%MUe z`MOqq5X&7hD_y$ - - - - - Redirecting... - - - -

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diff --git a/src/public/site.webmanifest b/src/public/site.webmanifest
deleted file mode 100644
index 4ebda26..0000000
--- a/src/public/site.webmanifest
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-  "name": "",
-  "short_name": "",
-  "icons": [
-    {
-      "src": "/web-app-manifest-192x192.png",
-      "sizes": "192x192",
-      "type": "image/png",
-      "purpose": "maskable"
-    },
-    {
-      "src": "/web-app-manifest-512x512.png",
-      "sizes": "512x512",
-      "type": "image/png",
-      "purpose": "maskable"
-    }
-  ],
-  "theme_color": "#ffffff",
-  "background_color": "#ffffff",
-  "display": "standalone"
-}
\ No newline at end of file
diff --git a/src/public/web-app-manifest-192x192.png b/src/public/web-app-manifest-192x192.png
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zB_ItoN&u)>al;Jo`YA?^A3ngDo#N6C=&5B19YDnb5of^5w-{Jz)PM
Date: Fri, 24 Jul 2026 16:28:19 -0400
Subject: [PATCH 04/18] update readme + pages deploy

---
 .github/workflows/deploy.yaml |  32 +++++++++++
 .idea/workspace.xml           | 100 +++-------------------------------
 README.md                     |  40 +++++++-------
 astro.config.mjs              |   1 +
 public/CNAME                  |   1 +
 5 files changed, 60 insertions(+), 114 deletions(-)
 create mode 100644 .github/workflows/deploy.yaml
 create mode 100644 public/CNAME

diff --git a/.github/workflows/deploy.yaml b/.github/workflows/deploy.yaml
new file mode 100644
index 0000000..df483c6
--- /dev/null
+++ b/.github/workflows/deploy.yaml
@@ -0,0 +1,32 @@
+name: Deploy to GitHub Pages
+
+on:
+  push:
+    branches: [ main ]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v7
+
+      - name: Build Documentation
+        uses: withastro/action@v6
+
+  deploy:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v5
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 694813b..b6aa215 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -16,99 +16,9 @@
     
   
   
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+    
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+    
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+      
       
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+  
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+  
   
     
       
@@ -197,6 +214,7 @@
   
   
     
-    
 
\ No newline at end of file
diff --git a/astro.config.mjs b/astro.config.mjs
index de62db5..5358a8d 100644
--- a/astro.config.mjs
+++ b/astro.config.mjs
@@ -1,6 +1,7 @@
 // @ts-check
 import { defineConfig } from 'astro/config';
 import starlight from '@astrojs/starlight';
+import starlightThemeGalaxy from 'starlight-theme-galaxy';
 
 // https://astro.build/config
 export default defineConfig({
@@ -9,11 +10,11 @@ export default defineConfig({
 		starlight({
 			title: 'NextFTC',
 			logo: {
-				light: './src/assets/nextftc-logo-light.png',
-				dark: './src/assets/nextftc-logo-dark.png',
+				light: './src/assets/nextftc-banner-light.png',
+				dark: './src/assets/nextftc-banner-dark.png',
 				replacesTitle: true,
 			},
-			favicon: '/favicon.png',
+			favicon: '/favicon.svg',
 			customCss: ['./src/styles/custom.css'],
 			social: [
 				{ icon: 'github', label: 'GitHub', href: 'https://github.com/NextFTC/NextFTCSuite' },
@@ -32,6 +33,7 @@ export default defineConfig({
 					items: [{ autogenerate: { directory: 'reference' } }],
 				},
 			],
+			plugins: [starlightThemeGalaxy()]
 		}),
 	],
 });
diff --git a/bun.lock b/bun.lock
index dadcb2d..2f7fb11 100644
--- a/bun.lock
+++ b/bun.lock
@@ -7,6 +7,7 @@
         "@astrojs/starlight": "^0.41.4",
         "astro": "^7.0.2",
         "sharp": "^0.34.5",
+        "starlight-theme-galaxy": "^0.8.0",
       },
       "devDependencies": {
         "@types/bun": "^1.3.14",
@@ -144,14 +145,20 @@
 
     "@esbuild/win32-x64": ["@esbuild/win32-x64@0.28.1", "", { "os": "win32", "cpu": "x64" }, "sha512-bm4Mowrv+GXMlpWX++EcXw/iLyd1o3+bJkC2DkWXYVvgZCqD/bSj9ctZeAMC3cIxgjRVR2Dufaiu4YPxr5gW1A=="],
 
-    "@expressive-code/core": ["@expressive-code/core@0.44.1", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-3dDo9N8D7hYrLNNMMWFovg3+aDUtnQm7c7z0GZc1c0LEFVBc0Q6lKG+tVT28gDadOvsgOANfCn35fgpe97Pmgg=="],
+    "@expressive-code/core": ["@expressive-code/core@0.41.7", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-ck92uZYZ9Wba2zxkiZLsZGi9N54pMSAVdrI9uW3Oo9AtLglD5RmrdTwbYPCT2S/jC36JGB2i+pnQtBm/Ib2+dg=="],
 
     "@expressive-code/plugin-frames": ["@expressive-code/plugin-frames@0.44.1", "", { "dependencies": { "@expressive-code/core": "^0.44.1" } }, "sha512-HC/bdRao9225ApcgO/e3jn8ZOhldKO7ob1O/Tcipvtv7Vb5nMphZhMtD9uuywpvxkPYBHJi3504WhrKg05Dwqg=="],
 
+    "@expressive-code/plugin-line-numbers": ["@expressive-code/plugin-line-numbers@0.41.7", "", { "dependencies": { "@expressive-code/core": "^0.41.7" } }, "sha512-wI9D5NBcgE9ksiJJV8YfOC0RPI3283+9AYWIb8pBUM5TSM8msIs1YRPDt8c8Ub0XGQvbjJKtB+f9fAl2RiHJ2A=="],
+
     "@expressive-code/plugin-shiki": ["@expressive-code/plugin-shiki@0.44.1", "", { "dependencies": { "@expressive-code/core": "^0.44.1", "shiki": "^4.0.2" } }, "sha512-YApiZt3buUzBwL5tqj8G+sYC5NjMjRCHgQwr9bmGl69rtcHy6fE9dooWUeKYB978fJT2BuxT5FeHcF47rA3SEg=="],
 
     "@expressive-code/plugin-text-markers": ["@expressive-code/plugin-text-markers@0.44.1", "", { "dependencies": { "@expressive-code/core": "^0.44.1" } }, "sha512-B3BsJoJ8CFMlcIX9f+X9tcI3C4zPDO601+YuLi9GheSTNro7ZfqSjLptMQKBHOWZvxnAtY5zvIX7iO/qtBhNBg=="],
 
+    "@fontsource-variable/inter": ["@fontsource-variable/inter@5.3.0", "", {}, "sha512-OupL48va4JNofb97w6NYeF9S7W/kHNKM0Er8Dem5nqi4jeOLrVJDoE8tZEpnMJmtkvNbB1EIPPwHcdkF6b1oUA=="],
+
+    "@fontsource-variable/jetbrains-mono": ["@fontsource-variable/jetbrains-mono@5.3.0", "", {}, "sha512-F32xpS2NsGYoQi2ADSkKTgpJj7ozajsGgDJ8woTnqjmIB+dxDIqImjl4pXZVEExu8UFZ2ndhmX18EBS/hdz3Lw=="],
+
     "@img/colour": ["@img/colour@1.1.0", "", {}, "sha512-Td76q7j57o/tLVdgS746cYARfSyxk8iEfRxewL9h4OMzYhbW4TAcppl0mT4eyqXddh6L/jwoM75mo7ixa/pCeQ=="],
 
     "@img/sharp-darwin-arm64": ["@img/sharp-darwin-arm64@0.34.5", "", { "optionalDependencies": { "@img/sharp-libvips-darwin-arm64": "1.2.4" }, "os": "darwin", "cpu": "arm64" }, "sha512-imtQ3WMJXbMY4fxb/Ndp6HBTNVtWCUI0WdobyheGf5+ad6xX8VIDO8u2xE4qc/fr08CKG/7dDseFtn6M6g/r3w=="],
@@ -828,6 +835,8 @@
 
     "space-separated-tokens": ["space-separated-tokens@2.0.2", "", {}, "sha512-PEGlAwrG8yXGXRjW32fGbg66JAlOAwbObuqVoJpv/mRgoWDQfgH1wDPvtzWyUSNAXBGSk8h755YDbbcEy3SH2Q=="],
 
+    "starlight-theme-galaxy": ["starlight-theme-galaxy@0.8.0", "", { "dependencies": { "@expressive-code/core": "^0.41.7", "@expressive-code/plugin-line-numbers": "^0.41.7", "@fontsource-variable/inter": "^5.2.8", "@fontsource-variable/jetbrains-mono": "^5.2.8" }, "peerDependencies": { "@astrojs/starlight": ">=0.38.0" } }, "sha512-a5MN3H9YCsVMEyEsZ+QH7D7wDYMvNsEcpOakwA+fO0b4gdF5jHr6sOYE/I5UAdBMy+BhjVqLLQXgY/IAH+yWvw=="],
+
     "stream-replace-string": ["stream-replace-string@2.0.0", "", {}, "sha512-TlnjJ1C0QrmxRNrON00JvaFFlNh5TTG00APw23j74ET7gkQpTASi6/L2fuiav8pzK715HXtUeClpBTw2NPSn6w=="],
 
     "stringify-entities": ["stringify-entities@4.0.4", "", { "dependencies": { "character-entities-html4": "^2.0.0", "character-entities-legacy": "^3.0.0" } }, "sha512-IwfBptatlO+QCJUo19AqvrPNqlVMpW9YEL2LIVY+Rpv2qsjCGxaDLNRgeGsQWJhfItebuJhsGSLjaBbNSQ+ieg=="],
@@ -914,6 +923,12 @@
 
     "@bruits/satteri-wasm32-wasi/@emnapi/runtime": ["@emnapi/runtime@1.11.1", "", { "dependencies": { "tslib": "^2.4.0" } }, "sha512-vgj7R3y3Wgx24IQaGPA/R6YFXLHVMOZ0uVEyIQPaWs+rd1AzfEMXlAC22FYwO1XkKR6NPsq7mUandH8oIRdZFw=="],
 
+    "@expressive-code/plugin-frames/@expressive-code/core": ["@expressive-code/core@0.44.1", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-3dDo9N8D7hYrLNNMMWFovg3+aDUtnQm7c7z0GZc1c0LEFVBc0Q6lKG+tVT28gDadOvsgOANfCn35fgpe97Pmgg=="],
+
+    "@expressive-code/plugin-shiki/@expressive-code/core": ["@expressive-code/core@0.44.1", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-3dDo9N8D7hYrLNNMMWFovg3+aDUtnQm7c7z0GZc1c0LEFVBc0Q6lKG+tVT28gDadOvsgOANfCn35fgpe97Pmgg=="],
+
+    "@expressive-code/plugin-text-markers/@expressive-code/core": ["@expressive-code/core@0.44.1", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-3dDo9N8D7hYrLNNMMWFovg3+aDUtnQm7c7z0GZc1c0LEFVBc0Q6lKG+tVT28gDadOvsgOANfCn35fgpe97Pmgg=="],
+
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     "@rolldown/binding-wasm32-wasi/@emnapi/runtime": ["@emnapi/runtime@1.11.1", "", { "dependencies": { "tslib": "^2.4.0" } }, "sha512-vgj7R3y3Wgx24IQaGPA/R6YFXLHVMOZ0uVEyIQPaWs+rd1AzfEMXlAC22FYwO1XkKR6NPsq7mUandH8oIRdZFw=="],
@@ -926,6 +941,8 @@
 
     "estree-util-build-jsx/estree-walker": ["estree-walker@3.0.3", "", { "dependencies": { "@types/estree": "^1.0.0" } }, "sha512-7RUKfXgSMMkzt6ZuXmqapOurLGPPfgj6l9uRZ7lRGolvk0y2yocc35LdcxKC5PQZdn2DMqioAQ2NoWcrTKmm6g=="],
 
+    "expressive-code/@expressive-code/core": ["@expressive-code/core@0.44.1", "", { "dependencies": { "@ctrl/tinycolor": "^4.0.4", "hast-util-select": "^6.0.2", "hast-util-to-html": "^9.0.1", "hast-util-to-text": "^4.0.1", "hastscript": "^9.0.0", "postcss": "^8.4.38", "postcss-nested": "^6.0.1", "unist-util-visit": "^5.0.0", "unist-util-visit-parents": "^6.0.1" } }, "sha512-3dDo9N8D7hYrLNNMMWFovg3+aDUtnQm7c7z0GZc1c0LEFVBc0Q6lKG+tVT28gDadOvsgOANfCn35fgpe97Pmgg=="],
+
     "parse-entities/@types/unist": ["@types/unist@2.0.11", "", {}, "sha512-CmBKiL6NNo/OqgmMn95Fk9Whlp2mtvIv+KNpQKN2F4SjvrEesubTRWGYSg+BnWZOnlCaSTU1sMpsBOzgbYhnsA=="],
 
     "csso/css-tree/mdn-data": ["mdn-data@2.0.28", "", {}, "sha512-aylIc7Z9y4yzHYAJNuESG3hfhC+0Ibp/MAMiaOZgNv4pmEdFyfZhhhny4MNiAfWdBQ1RQ2mfDWmM1x8SvGyp8g=="],
diff --git a/package.json b/package.json
index 4cfdf9d..82bd568 100644
--- a/package.json
+++ b/package.json
@@ -12,7 +12,8 @@
   "dependencies": {
     "@astrojs/starlight": "^0.41.4",
     "astro": "^7.0.2",
-    "sharp": "^0.34.5"
+    "sharp": "^0.34.5",
+    "starlight-theme-galaxy": "^0.8.0"
   },
   "devDependencies": {
     "@types/bun": "^1.3.14"
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similarity index 100%
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+
   
     Build robots around composable commands and reactive triggers. Bind gamepad inputs to commands with a single line of code.
   
@@ -31,4 +37,10 @@ import { Card, CardGrid } from '@astrojs/starlight/components';
   
     PID, feedforward, motion profiling, Kalman filtering, and type-safe units: everything you need to close the loop on any mechanism.
   
+  
+    Write `5.0.meters` or `12.0.volts` instead of bare doubles. Arithmetic between units produces correctly typed results, caught at compile time.
+  
+  
+    Written in Kotlin with Java interop as a first-class citizen, so your team can use either language across the same codebase.
+  
 
diff --git a/src/styles/custom.css b/src/styles/custom.css
index 3ea4d85..b2ef125 100644
--- a/src/styles/custom.css
+++ b/src/styles/custom.css
@@ -14,5 +14,5 @@
 /* The NextFTC wordmark logo has extra empty space below the text, so it reads
    as vertically off-center in the header. Nudge it down to compensate. */
 .site-title img {
-	margin-top: 0.75rem;
+	margin-top: 0.5rem;
 }

From c265f86f04ed809711063eb069c29d84da6972b8 Mon Sep 17 00:00:00 2001
From: Zach Harel 
Date: Mon, 27 Jul 2026 23:17:24 -0400
Subject: [PATCH 06/18] switch to pnpm

---
 .github/workflows/deploy.yaml |    2 +
 .idea/workspace.xml           |  127 +-
 bun.lock                      |  950 -------
 package.json                  |    7 +-
 pnpm-lock.yaml                | 4388 +++++++++++++++++++++++++++++++++
 pnpm-workspace.yaml           |    3 +
 6 files changed, 4464 insertions(+), 1013 deletions(-)
 delete mode 100644 bun.lock
 create mode 100644 pnpm-lock.yaml
 create mode 100644 pnpm-workspace.yaml

diff --git a/.github/workflows/deploy.yaml b/.github/workflows/deploy.yaml
index df483c6..be2d0dc 100644
--- a/.github/workflows/deploy.yaml
+++ b/.github/workflows/deploy.yaml
@@ -3,6 +3,7 @@ name: Deploy to GitHub Pages
 on:
   push:
     branches: [ main ]
+  pull_request:
   workflow_dispatch:
 
 permissions:
@@ -22,6 +23,7 @@ jobs:
 
   deploy:
     needs: build
+    if: github.ref == 'refs/heads/main' && github.repository == 'nextftc/nextftc-docs-beta'
     runs-on: ubuntu-latest
     environment:
       name: github-pages
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index b7c2385..0ee1bbe 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,7 @@
     
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diff --git a/src/public/redirect.html b/src/public/redirect.html
deleted file mode 100644
index 357088e..0000000
--- a/src/public/redirect.html
+++ /dev/null
@@ -1,59 +0,0 @@
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