Constants check upon thee (#6)

* added json configs * sim settings * Refactored Manager to work with Drive * Add AutoAligner subsystem with state management and target poses * Changed to using operator controller in global constants * Made some style changes to be consistent * Weird fixes * Possibly working first attempt at IO layers * did IO for manager(hopefully) * Small changes to AlgaeCorraler * Added IO layers to AlgaeCorraler (hopefully works) * Changed AlgaeCorraler to not crash * Added the two pivot arms for AlgaeCorraler in sim * Fixed all the problems (for the most part) * Added sim PID for Algae Corraler, tolerances, and other minor changes * Apply Prettier format * Doing some of the changes requested * Apply Prettier format * spark max IDs * Can IDs * Refactor swerve module configurations and remove deprecated example file * Add Vision subsystem with IO interfaces and update dependencies * Added vision 2nd camera and sim * devious prank * Apply Prettier format --------- Co-authored-by: Aitan Martinez <[email protected]> Co-authored-by: Yuriana101 <[email protected]> Co-authored-by: GreenTomato5 <[email protected]> Co-authored-by: github-actions <[email protected]> Co-authored-by: Bailey Bonde <[email protected]>
FRC-7525 · Feb 9, 2025 · ac43396 · ac43396
1 parent 7427ac8
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diff --git a/.github/scripts/constants.py b/.github/scripts/constants.py
@@ -0,0 +1,107 @@
+import re
+import os
+import sys
+
+# List of files to excuse (constants and things we didnt make and stuff we wont use)
+excused_files = ["GlobalConstants.java", "Drive.java", "TunerConstants.java", "BuildConstants.java", "LocalADStarAK.java", "VisionUtil.java", "SwerveModule.java", "VisionIOSim.java", "ElevatorConstants.java", "IntakeConstants.java", 
+                "RepulsorFieldPlanner.java", "Force.java", "ManagerConstants.java", "AutoAlignConstants.java", "Manager.java", "AutoAlign.java", "AutoAlignStates.java", "CoralerConstants.java", "AlgaerConstants.java", "VisionConstants.java",
+                "LEDStates.java", "LEDIOSim.java", "LEDIOReal.java", "AutoManager.java", "TippingCalculator.java", "WheelRadiusCharacterization.java", "ElevatorIOReal.java", "ElevatorIOSim.java"]
+
+# Not really dirs becasue the full ones didnt work
+excused_dirs = [
+    "bin",
+    "build",
+    "src/main/java/frc/robot/pioneersLib"
+]
+
+# Weird stuff that shouldn't go in constants, dont put function/var names in here theyre already checked
+excused_cases = ["ModuleIOSparkMax", "case", "new Module(", "new BaseStatusSignal[", "BaseStatusSignal.waitForAll(", "new ModuleIOHybrid(", "Math.pow(", "+=", "drive.getRotation()", "autoChooser.addOption(", "static final", "getRealTimestamp", "antiJitterThreshold", "trackWidth", "i < 4", "SwerveModuleState[4]", "gearRatio", "Math.PI", "private final", "/ 360", "/360", "* 360", "*360", "DCMotor.get", "/60", "/ 60", "getRawButtonPressed("]
+
+def check_for_magic_numbers(file_path):
+    magic_numbers = []
+
+    # Number pattern makes sure number isnt in a var and detects all numbers that arent in a function/var
+    number_pattern = r'(?<!\w)-?(?:\d*\.\d+|\d+\.?)\b(?!\w)'
+    zero_pattern = r'^0*\.?0+$'
+
+    with open(file_path, 'r') as file:
+        lines = file.readlines()
+        in_comment_block = False
+
+        for line_number, line in enumerate(lines, 1):
+            line = line.strip()
+
+            # Skip empty lines
+            if not line:
+                continue
+
+            # Skip big comments
+            if '/*' in line:
+                in_comment_block = True
+            # If someone like put a thing after a multi-line comment end this wouldnt work but idk if you can even do that
+            if '*/' in line:
+                in_comment_block = False
+                continue
+            if in_comment_block:
+                continue
+
+            # Skip regular comments and imports
+            if line.startswith('//') or line.startswith('import'):
+                continue
+
+            # Skips excused cases
+            if any(case in line for case in excused_cases):
+                continue
+
+            numbers = re.findall(number_pattern, line)
+            for number in numbers:
+                # Skip for zeroes, they're fine as is
+                if re.match(zero_pattern, number):
+                    continue                
+                magic_numbers.append((number, line_number))
+    return magic_numbers
+
+def is_file_excused(file_path, project_root):
+    filename = os.path.basename(file_path)
+    if filename in excused_files:
+        return True
+
+    relative_path = os.path.relpath(file_path, project_root)
+    for excluded_dir in excused_dirs:
+        if relative_path.startswith(excluded_dir) or excluded_dir in relative_path:
+            return True
+
+    return False
+
+def scan_directory(directory):
+    magic_number_count = 0
+    for root, _, files in os.walk(directory):
+        for file in files:
+            if file.endswith('.java'):
+                file_path = os.path.join(root, file)
+                if not is_file_excused(file_path, directory):
+                    magic_numbers = check_for_magic_numbers(file_path)
+                    if magic_numbers:
+                        print(f"In {file_path}:")
+                        for number, line_number in magic_numbers:
+                            print(f"  Line {line_number}: Magic number {number}")
+                            magic_number_count += 1
+    return magic_number_count
+
+if __name__ == "__main__":
+    # Get scripts dir
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+
+    # Move up 2 dirs to get the project root
+    project_root = os.path.dirname(os.path.dirname(script_dir))
+
+    print(f"Scanning directory: {project_root}")
+    total_magic_numbers = scan_directory(project_root)
+
+    # Fails if magic numbers are in any non excused locations    
+    if total_magic_numbers > 0:
+        print(f"\nTotal magic numbers found: {total_magic_numbers}.\nPlease put these in  Constanats.java!")
+        sys.exit(1)
+    else:
+        print("\nNo Magic Number Found")
+        sys.exit(0)
diff --git a/.github/workflows/constants.yml b/.github/workflows/constants.yml
@@ -0,0 +1,24 @@
+name: Find Misplaced Constants
+
+on:
+  pull_request:
+    types:
+      - reopened
+      - opened
+      - synchronize
+  push:
+    branches:
+      - main
+
+jobs:
+  find-misplaced-constants:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repo
+        uses: actions/checkout@v2
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.11'
+      - name: Run Python Script
+        run: python .github/scripts/constants.py
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,97 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}
diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt
diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 10.171,
+    "left": -13.878
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 1,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -10.635,
+    "left": -12.796
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 1,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": null,
+    "left": 11.331
+  },
+  "absoluteEncoderOffset": 13.543,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 0,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 0,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -10.822,
+    "left": 13.793
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 1,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}
diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -0,0 +1,24 @@
+{
+  "optimalVoltage": 12,
+  "robotMass": 79,
+  "wheelGripCoefficientOfFriction": 1.542,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 21.4286,
+      "factor": 0
+    },
+    "drive": {
+      "diameter": 3.5,
+      "gearRatio": 6.75,
+      "factor": 0
+    }
+  },
+  "rampRate": {
+    "drive": 0.12,
+    "angle": 0.05
+  }
+}