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‎src/main/java/com/spikes2212/command/DashboardedSubsystem.java

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package com.spikes2212.command;
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import com.spikes2212.dashboard.Namespace;
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import com.spikes2212.dashboard.RootNamespace;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Subsystem;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.List;
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/**
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* A {@link Subsystem} that includes a {@link Namespace}, which lets you see and configure data using the
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* {@link SmartDashboard}.
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*
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* @author Yoel Perman Brilliant
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*/
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public abstract class DashboardedSubsystem extends SubsystemBase {
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protected final Namespace namespace;
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public DashboardedSubsystem(Namespace namespace) {
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this.namespace = namespace;
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}
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public DashboardedSubsystem(String namespaceName) {
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this(new RootNamespace(namespaceName));
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}
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/**
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* Updates the {@link Namespace}. Should be called in the {@code robotPeriodic()} method in {@code Robot}.
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*/
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@Override
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public void periodic() {
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namespace.update();
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}
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public abstract void configureDashboard();
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/**
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* Should be used inside a constructor to get the name of the class of the object that is being created.
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* The method achieves that by finding the earliest constructor in the method call stack.
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*
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* @param defaultName default return value in case the method, for any reason, does not find a constructor.
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* @return name of the class
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*/
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protected static String getClassName(String defaultName) {
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List<StackTraceElement> elements = Arrays.asList(Thread.currentThread().getStackTrace());
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Collections.reverse(elements);
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for (StackTraceElement element : elements) {
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if (element.toString().contains(".<init>"))
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return element.getClassName();
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}
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return defaultName;
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}
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}

‎src/main/java/com/spikes2212/command/DoubleSolenoidSubsystem.java

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package com.spikes2212.command;
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import com.spikes2212.dashboard.Namespace;
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import com.spikes2212.dashboard.RootNamespace;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.Subsystem;
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/**
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* A {@link Subsystem} that controls a double solenoid.
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*
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* @author Camellia Lami
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* @see DashboardedSubsystem
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*/
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public class DoubleSolenoidSubsystem extends DashboardedSubsystem {
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private final DoubleSolenoid doubleSolenoid;
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private final boolean inverted;
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public DoubleSolenoidSubsystem(Namespace namespace, DoubleSolenoid doubleSolenoid, boolean inverted) {
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super(namespace);
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this.doubleSolenoid = doubleSolenoid;
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this.inverted = inverted;
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}
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public DoubleSolenoidSubsystem(String namespaceName, DoubleSolenoid doubleSolenoid, boolean inverted) {
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this(new RootNamespace(namespaceName), doubleSolenoid, inverted);
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}
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/**
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* Opens the double solenoid.
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*
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* @return an {@link InstantCommand} that opens the solenoid
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*/
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public InstantCommand openCommand() {
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if (inverted) {
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return new InstantCommand(() -> doubleSolenoid.set(DoubleSolenoid.Value.kForward), this);
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}
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return new InstantCommand(() -> doubleSolenoid.set(DoubleSolenoid.Value.kReverse), this);
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}
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/**
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* Closes the double solenoid.
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*
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* @return an {@link InstantCommand} that closes the solenoid
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*/
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public InstantCommand closeCommand() {
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if (inverted) {
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return new InstantCommand(() -> doubleSolenoid.set(DoubleSolenoid.Value.kReverse), this);
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}
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return new InstantCommand(() -> doubleSolenoid.set(DoubleSolenoid.Value.kForward), this);
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}
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/**
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* Adds any commands or data from this subsystem to the {@link NetworkTable}s.
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*/
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@Override
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public void configureDashboard() {
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}
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}

‎src/main/java/com/spikes2212/command/drivetrains/OdometryDrivetrain.java

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package com.spikes2212.command.drivetrains;
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import com.spikes2212.path.OdometryHandler;
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import edu.wpi.first.wpilibj.motorcontrol.MotorController;
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@Deprecated(forRemoval = true, since = "2025")
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public abstract class OdometryDrivetrain extends TankDrivetrain {
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public OdometryDrivetrain(String namespaceName, MotorController left, MotorController right) {
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super(namespaceName, left, right);
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}
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public abstract OdometryHandler getHandler();
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public abstract double getWidth();
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public abstract void zeroSensors();
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public abstract double getLeftRate();
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public abstract double getRightRate();
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public abstract void setInverted(boolean inverted);
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@Override
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public void periodic() {
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getHandler().calculate();
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super.periodic();
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}
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}

‎src/main/java/com/spikes2212/command/drivetrains/TankDrivetrain.java

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package com.spikes2212.command.drivetrains;
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import com.spikes2212.command.DashboardedSubsystem;
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import com.spikes2212.util.MotorControllerGroup;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.wpilibj.RobotController;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.motorcontrol.MotorController;
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/**
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* This class represents a type of drivetrain that its left and right sides are controlled independently,
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* allowing it to move by giving each side a speed value separately.
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*
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* <p> It can move forwards/backwards by giving both its sides an equal speed or
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* turn by giving the sides different speeds. </p>
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*
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* @author Yuval Levy
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* @see DashboardedSubsystem
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*/
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public class TankDrivetrain extends DashboardedSubsystem {
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private static final String DEFAULT_NAMESPACE_NAME = "tank drivetrain";
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protected final MotorController leftController;
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protected final MotorController rightController;
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private final DifferentialDrive drive;
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public TankDrivetrain(String namespaceName, MotorController leftController, MotorController rightController) {
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super(namespaceName);
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this.leftController = leftController;
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this.rightController = rightController;
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rightController.setInverted(true);
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drive = new DifferentialDrive(leftController, rightController);
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drive.setSafetyEnabled(false);
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}
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public TankDrivetrain(MotorController leftController, MotorController rightController) {
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this(getClassName(DEFAULT_NAMESPACE_NAME), leftController, rightController);
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}
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public TankDrivetrain(String namespaceName, MotorController leftMaster, MotorController leftSlave,
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MotorController rightMaster, MotorController rightSlave) {
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this(namespaceName, new MotorControllerGroup(leftMaster, leftSlave),
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new MotorControllerGroup(rightMaster, rightSlave));
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}
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public TankDrivetrain(MotorController leftMaster, MotorController leftSlave,
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MotorController rightMaster, MotorController rightSlave) {
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this(new MotorControllerGroup(leftMaster, leftSlave),
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new MotorControllerGroup(rightMaster, rightSlave));
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}
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/**
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* Moves both sides of this drivetrain by the given speeds for each side.
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*
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* @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward
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* @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward
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*/
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public void tankDrive(double leftSpeed, double rightSpeed) {
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drive.tankDrive(leftSpeed, rightSpeed, false);
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}
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/**
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* Moves both sides of this drivetrain by the given speeds for each side.
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*
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* @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward
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* @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward
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* @param squareInputs whether to square the given inputs before putting them in the speed controllers
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*/
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public void tankDrive(double leftSpeed, double rightSpeed, boolean squareInputs) {
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drive.tankDrive(leftSpeed, rightSpeed, squareInputs);
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}
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/**
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* Moves both sides of this drivetrain by the given voltages for each side.
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*
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* @param leftVoltage the voltage to set to the left side (-12 to 12). Positive values move this side forward
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* @param rightVoltage the voltage to set to the right side (-12 to 12). Positive values move this side forward
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*/
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public void tankDriveVoltages(double leftVoltage, double rightVoltage) {
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tankDrive(leftVoltage / RobotController.getBatteryVoltage(),
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rightVoltage / RobotController.getBatteryVoltage(), false);
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}
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/**
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* Moves the drivetrain by the given forward and angular speed.
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*
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* @param moveValue the forward movement speed (-1 to 1)
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* @param rotateValue the angular movement speed (-1 to 1). Positive values go clockwise
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*/
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public void arcadeDrive(double moveValue, double rotateValue) {
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drive.arcadeDrive(moveValue, rotateValue, false);
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}
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/**
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* Moves the drivetrain by the given forward and angular speed.
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*
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* @param moveValue the forward movement speed (-1 to 1)
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* @param rotateValue the angular movement speed (-1 to 1). Positive values go clockwise
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* @param squareInputs whether to square the given inputs before putting them in the speed controllers
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*/
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public void arcadeDrive(double moveValue, double rotateValue, boolean squareInputs) {
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drive.arcadeDrive(moveValue, rotateValue, squareInputs);
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}
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/**
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* Moves the drivetrain by the given forward and angular voltage.
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*
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* @param moveVoltage the forward movement voltage (-12 to 12)
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* @param rotateVoltage the angular movement voltage (-12 to 12). Positive values go clockwise
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*/
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public void arcadeDriveVoltages(double moveVoltage, double rotateVoltage) {
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arcadeDrive(moveVoltage / RobotController.getBatteryVoltage(),
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rotateVoltage / RobotController.getBatteryVoltage(), false);
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}
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/**
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* Moves the drivetrain while rotating it at a given curvature.
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*
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* @param speed the forward movement speed (-1 to 1)
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* @param curvature the curvature of the robot's path (-1 to 1). Positive values go clockwise
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*/
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public void curvatureDrive(double speed, double curvature) {
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drive.curvatureDrive(speed, curvature, true);
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}
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/**
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* Moves the left side of this drivetrain by a given speed.
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*
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* @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward
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*/
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public void setLeft(double leftSpeed) {
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leftController.set(leftSpeed);
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}
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/**
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* Moves the right side of this drivetrain by a given speed.
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*
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* @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward
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*/
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public void setRight(double rightSpeed) {
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rightController.set(rightSpeed);
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}
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/**
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* Moves the left side of this drivetrain by a given voltage.
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*
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* @param leftVoltage the voltage to set to the left side (-12 to 12). Positive values move this side forward
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*/
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public void setLeftVoltage(double leftVoltage) {
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setLeft(leftVoltage / RobotController.getBatteryVoltage());
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}
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/**
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* Moves the right side of this drivetrain by a given voltage.
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*
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* @param rightVoltage the voltage to set to the right side (-12 to 12). Positive values move this side forward
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*/
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public void setRightVoltage(double rightVoltage) {
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setRight(rightVoltage / RobotController.getBatteryVoltage());
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}
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/**
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* Stops the drivetrain.
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*/
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public void stop() {
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leftController.stopMotor();
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rightController.stopMotor();
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}
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/**
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* Sets the motor safety feature of the speed controllers on/off.
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*
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* @param enabled whether motor safety should be enabled
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*/
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public void setMotorSafety(boolean enabled) {
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drive.setSafetyEnabled(enabled);
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}
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/**
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* Adds any commands or data from this subsystem to the {@link NetworkTable}s.
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*/
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@Override
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public void configureDashboard() {
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}
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}

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