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https://github.com/offshape/capybara
A Kotlin powered FIRST Robotics Competition code template. Work in progress.
https://github.com/offshape/capybara
first-robotics-competition frc-kotlin kotlin robot wpilib
Last synced: 3 months ago
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A Kotlin powered FIRST Robotics Competition code template. Work in progress.
- Host: GitHub
- URL: https://github.com/offshape/capybara
- Owner: offshape
- License: mit
- Created: 2024-07-04T18:36:27.000Z (6 months ago)
- Default Branch: master
- Last Pushed: 2024-10-07T07:59:12.000Z (3 months ago)
- Last Synced: 2024-10-10T03:01:13.719Z (3 months ago)
- Topics: first-robotics-competition, frc-kotlin, kotlin, robot, wpilib
- Language: Kotlin
- Homepage:
- Size: 254 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
[](https://github.com/offshape/Capybara/actions/workflows/gradle.yml)
[](#license)
[](https://github.com/offshape/Capybara/generate)
A Kotlin powered FIRST Robotics Competition code template. Made for CTR Electronics swerve based robots, with Monologue logging, and a focus on simplicity and ease of use.
# Library Features
Note: Some of these features and implementations are going to be baked into WPILib's 2025 Release, Capybara's Library will have adapters for Monologue and Neopixel Animations for the 2025 Release.
## Signal/State Based Programming
Based off Coralis's Signal/State Based Programming, Capybara has a simple state machine API for controlling universal state throughout robot code, allowing for complex state based programming with ease.
Signal/State Based Programming is best fit for complex motion and system control, like a 3 axis arm, where the reference angles of an arm needs to be staged for control.
```kotlin
// An example of state based programming for a simple 2018 style elevator,
// With an elevator, wrist and intake
// Our restrictions are that the wrist can only move when high enough,
// or it will hit its bumper, so its in between the INTAKE and IDLE states that we can have issues
enum class RobotState {
PLACING,
INTAKE,
IDLE,
DISABLED // When the robot is enabled this should go to IDLE, which runs onNewProduct and updates devices
}
val currentState = Gateway(RobotState.entries, RobotState.DISABLED)
// This acts like a subsystem, and makes sure only one state is active at a time
// Internally its the command that pushes updates and updates all Suppliers, not the Reserve
val reserve = Reserve()
// In centimeters
val elevatorState = Supplier(currentState, hashMapOf(
RobotState.PLACING to { 250 },
RobotState.INTAKE to { 30 },
RobotState.IDLE to { if (wristEncoder == 0) 0 else null }
), reserve)
// In degrees where 0 is parallel to the ground
val wristState = Supplier(currentState, hashMapOf(
RobotState.PLACING to { 45 },
RobotState.INTAKE to { if (elevatorPosition > 29) -40 else null },
RobotState.IDLE to { 0 }
), reserve)
// In Volts
val intakeState = Supplier(currentState, hashMapOf(
RobotState.PLACING to { 12 },
RobotState.INTAKE to { -8 },
RobotState.IDLE to { 0 }
), reserve)
// Controlling Motors
elevatorState.onNewProduct {
elevatorMotor.setReference(it)
}
// Integration with Command Based Programming (Syntax will change soon)
joystick.a().onTrue(elevatorState.changeState(RobotState.PLACING))
reserve.defaultCommand = elevatorState.changeState(RobotState.IDLE)
```
## Subsystem Templates
For systems that involve priority, like LED indications, state machines can be cloggy and hard to manage. Subsystem Templates are a way to manage these systems with ease.
```kotlin
class Neopixels : ExecutionLadder(arrayOf(
{
if (DriverStation.isEStopped()) Flash(1) else null
},
{
if (RobotState.isDisabled()) {
when {
Interfaces.power.voltage < 12.5 && RobotBase.isReal() -> Pulse(1, 1.0)
!DriverStation.isDSAttached() -> Pulse(15, 1.0)
DriverStation.isFMSAttached() -> Zip(Triple(0, 200, 255), 25, 3)
else -> Pulse(120, 0.5)
}
} else null
},
{
if (RobotState.isAutonomous()) Rainbow() else null
},
{
Flash(2, Triple(0, 255, 0))
}
)) {
private val fullSection = LightSection(0, 58, Solid())
private val controller = LightController(0, 59, arrayOf(fullSection), 20)
init {
name = "Neopixel Ladder Controller"
setOnChange { animation ->
fullSection.animation = animation
log("currentAnimation", animation.toString())
}
}
}
```
In the backend the ExecutionLadder traverses until it gets a value other than null, which means certain values can be prioritized over others easly.
### Animations
TODO