diff --git a/OffSeasonBot2019/PathWeaver/Groups/Middle Blue to One in Rocket b/OffSeasonBot2019/PathWeaver/Groups/Middle Blue to One in Rocket new file mode 100644 index 0000000..ac5d002 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Groups/Middle Blue to One in Rocket @@ -0,0 +1,3 @@ +Top Left Rocket to Top Left Pickup +Top Left Pickup to Top Left Rocket Inner 1 +Top Left Pickup to Top Left Rocket Inner 2 diff --git a/OffSeasonBot2019/PathWeaver/Groups/test b/OffSeasonBot2019/PathWeaver/Groups/test new file mode 100644 index 0000000..4626371 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Groups/test @@ -0,0 +1,2 @@ +Path 1 +Path2 diff --git a/OffSeasonBot2019/PathWeaver/Paths/Left Blue to Front Cargo.path b/OffSeasonBot2019/PathWeaver/Paths/Left Blue to Front Cargo.path new file mode 100644 index 0000000..32f458e --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Paths/Left Blue to Front Cargo.path @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.9748431738345416,3.031841209347032,4.234038178082016,0.0,true, +6.535623847974332,6.312880440593866,3.1448965245560947,0.013614270669073392,true, +10.306776823307832,6.353723252601088,3.351991553672721,0.2506252106974214,false, +16.242598835024097,7.565393342148676,3.4,-0.013614270669073836,true,Left Blue to Front Cargo diff --git a/OffSeasonBot2019/PathWeaver/Paths/Middle Blue to Top Left Rocket Outer b/OffSeasonBot2019/PathWeaver/Paths/Middle Blue to Top Left Rocket Outer new file mode 100644 index 0000000..90841a8 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Paths/Middle Blue to Top Left Rocket Outer @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +2.07014306851806,4.1482114042111,3.048,0.0,true, +5.283110946419524,0.554043947575564,1.4294984202527692,-0.7896276988062921,true, diff --git a/OffSeasonBot2019/PathWeaver/Paths/Path 1 b/OffSeasonBot2019/PathWeaver/Paths/Path 1 new file mode 100644 index 0000000..653e384 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Paths/Path 1 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,3.048,0.0,true, +4.289269187577122,2.882084231987218,0.0,3.048,false, diff --git a/OffSeasonBot2019/PathWeaver/Paths/Path2 b/OffSeasonBot2019/PathWeaver/Paths/Path2 new file mode 100644 index 0000000..646debe --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Paths/Path2 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +4.289,2.882,-0.013614270669073836,-1.061913112187772,false, +6.90320915603933,0.771872278280748,1.293355713562029,-0.0952998946835184,true, diff --git a/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 1 b/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 1 new file mode 100644 index 0000000..7a6cdd2 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/Paths/Top Left Pickup to Top Left Rocket Inner 1 @@ -0,0 +1,4 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name 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b/OffSeasonBot2019/PathWeaver/Paths/Top Left Rocket to Top Left Pickup @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +5.351182299764894,0.48597259423019384,-1.76985518697962,0.9257704054970319,true, +0.0552310094951077,0.6901866542663039,-1.6585704649356399,0.011069750685180235,true, diff --git a/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.left.pf1.csv b/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.left.pf1.csv new file mode 100644 index 0000000..5129759 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/output/Left Blue to Front Cargo.left.pf1.csv @@ -0,0 +1,816 @@ +dt,x,y,position,velocity,acceleration,jerk,heading +0.020000,1.975682,3.336640,0.000200,0.020000,1.000000,50.000000,6.280434 +0.020000,1.975582,3.336640,0.000300,0.004986,-0.750713,-87.535672,6.280761 +0.020000,1.975382,3.336641,0.000499,0.009975,0.249468,50.009075,6.281416 +0.020000,1.975083,3.336641,0.000799,0.014972,0.249830,0.018112,6.282398 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+0.020000,16.233773,7.260621,15.734248,0.187564,-1.898459,-0.017884,6.280531 +0.020000,16.236766,7.260612,15.737241,0.149614,-1.897462,0.049846,6.280000 +0.020000,16.238999,7.260605,15.739474,0.111659,-1.897743,-0.014050,6.279604 +0.020000,16.240473,7.260599,15.740948,0.073717,-1.897133,0.030503,6.279342 +0.020000,16.241200,7.260596,15.741674,0.036315,-1.870109,1.351220,6.279213 +0.020000,16.241378,7.260596,15.741853,0.008943,-1.368604,25.075218,6.279181 +0.020000,16.241378,7.260596,15.741853,0.000000,-0.447128,46.073800,6.279181 diff --git a/OffSeasonBot2019/PathWeaver/pathweaver.json b/OffSeasonBot2019/PathWeaver/pathweaver.json new file mode 100644 index 0000000..69d1cc3 --- /dev/null +++ b/OffSeasonBot2019/PathWeaver/pathweaver.json @@ -0,0 +1,10 @@ +{ + "lengthUnit": "Meter", + "timeStep": 0.02, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxJerk": 60.0, + "wheelBase": 0.6096, + "gameName": "Destination: Deep Space", + "outputDir": ".." +} \ No newline at end of file diff --git a/OffSeasonBot2019/build.gradle b/OffSeasonBot2019/build.gradle index 8efc062..e2ec671 100644 --- a/OffSeasonBot2019/build.gradle +++ b/OffSeasonBot2019/build.gradle @@ -1,5 +1,6 @@ plugins { id "java" + id "idea" id "edu.wpi.first.GradleRIO" version "2019.4.1" } @@ -49,7 +50,7 @@ dependencies { compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.10.0' compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.10.0' compile group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.10.0' - + compile group: 'org.ejml', name: 'ejml-all', version: '0.38' } // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') diff --git a/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties b/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties index c680a16..51eabf8 100644 --- a/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties +++ b/OffSeasonBot2019/gradle/wrapper/gradle-wrapper.properties @@ -1,5 +1,6 @@ +#Sat Dec 28 12:38:02 PST 2019 +distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-all.zip distributionBase=GRADLE_USER_HOME distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.2-bin.zip -zipStoreBase=GRADLE_USER_HOME zipStorePath=permwrapper/dists +zipStoreBase=GRADLE_USER_HOME diff --git a/OffSeasonBot2019/src/main/deploy/motorConfig.yaml b/OffSeasonBot2019/src/main/deploy/motorConfig.yaml index fd6845b..e75f5b2 100644 --- a/OffSeasonBot2019/src/main/deploy/motorConfig.yaml +++ b/OffSeasonBot2019/src/main/deploy/motorConfig.yaml @@ -21,7 +21,7 @@ sparks: inverted: FOLLOW_LEADER inverted: NONINVERTED pidControllers: - - p: 0.00013 + - p: 0.00015 i: 0 d: 0 f: 0 @@ -51,7 +51,7 @@ sparks: inverted: FOLLOW_LEADER inverted: INVERTED pidControllers: - - p: 0.00013 + - p: 0.00015 i: 0 d: 0 f: 0 diff --git a/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.left.pf1.csv b/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.left.pf1.csv new file mode 100644 index 0000000..afcc5b0 --- /dev/null +++ b/OffSeasonBot2019/src/main/deploy/paths/Left Blue to Front Cargo.left.pf1.csv @@ -0,0 +1,447 @@ +dt,x,y,position,velocity,acceleration,jerk,heading +0.020000,1.975682,3.336640,0.000200,0.020000,1.000000,50.000000,6.280434 +0.020000,1.975582,3.336640,0.000300,0.004986,-0.750713,-87.535672,6.280761 +0.020000,1.975382,3.336641,0.000499,0.009975,0.249468,50.009075,6.281416 +0.020000,1.975083,3.336641,0.000799,0.014972,0.249830,0.018112,6.282398 +0.020000,1.975963,3.336642,0.001679,0.044007,1.451778,60.097376,0.000525 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b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/Robot.java @@ -8,19 +8,14 @@ package com.team2813.frc2019; import com.ctre.phoenix.CANifier; -import com.team2813.frc2019.loops.Loop; -import com.team2813.frc2019.subsystems.Drive; import com.team2813.frc2019.subsystems.MainIntake; import com.team2813.frc2019.subsystems.Subsystem; import com.team2813.frc2019.subsystems.Subsystems; import com.team2813.lib.config.MotorConfigs; import com.team2813.lib.util.CrashTracker; -import edu.wpi.first.wpilibj.Compressor; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj.*; +import edu.wpi.first.wpilibj.interfaces.Gyro; +import edu.wpi.first.wpilibj2.smartdashboard.SmartDashboard; import java.io.IOException; @@ -40,6 +35,7 @@ public class Robot extends TimedRobot { private static boolean batteryTooLow = false; private CANifier caNifier = new CANifier(0); + public static Gyro gyro = new ADXRS450_Gyro(SPI.Port.kOnboardCS0); /** * This function is run when the robot is first started up and should be @@ -49,12 +45,15 @@ public class Robot extends TimedRobot { public void robotInit() { try { CrashTracker.logRobotInit(); - MotorConfigs.read(); - Subsystems.initializeSubsystems(); - for (Subsystem subsystem : allSubsystems) { - LOOPER.addLoop(subsystem); - subsystem.zeroSensors(); - } + MotorConfigs.read(() -> { + gyro.calibrate(); + gyro.reset(); + Subsystems.initializeSubsystems(); + for (Subsystem subsystem : allSubsystems) { + LOOPER.addLoop(subsystem); + subsystem.zeroSensors(); + } + }); } catch (IOException e) { System.out.println("ERROR WHEN READING CONFIG"); e.printStackTrace(); diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/loops/Looper.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/loops/Looper.java index 84d5e99..d285501 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/loops/Looper.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/loops/Looper.java @@ -9,7 +9,7 @@ import edu.wpi.first.wpilibj.Notifier; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.smartdashboard.SmartDashboard; diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Drive.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Drive.java index a279b7f..92b4585 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Drive.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Drive.java @@ -2,6 +2,9 @@ import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.ControlType; +import com.team2813.lib.auto.GeneratedTrajectory; +import com.team2813.lib.auto.RamseteAuto; +import com.team2813.lib.auto.RamseteTrajectory; import com.team2813.lib.config.MotorConfigs; import com.team2813.lib.controls.Axis; import com.team2813.lib.controls.Button; @@ -16,6 +19,20 @@ import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj2.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj2.geometry.Pose2d; +import edu.wpi.first.wpilibj2.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.geometry.Translation2d; +import edu.wpi.first.wpilibj2.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.wpilibj2.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.wpilibj2.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.wpilibj2.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.util.Units; + +import java.io.IOException; +import java.util.List; + +import static com.team2813.frc2019.Robot.gyro; /** * The Drive subsystem is the main subsystem for @@ -28,19 +45,20 @@ public class Drive extends Subsystem { // Physical Constants - private static final double WHEEL_DIAMETER_INCHES = 1.0; // TODO: 10/05/2019 correct number - private static final double WHEEL_CIRCUMFERENCE_INCHES = Math.PI * WHEEL_DIAMETER_INCHES; + private static final double GEAR_REDUCTION = 9.0 / 60; + private static final double WHEEL_DIAMETER = 4; // TODO: 10/05/2019 correct number + private static final double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI; // Motor Controllers private static final CANSparkMaxWrapper LEFT = MotorConfigs.sparks.get("driveLeft"); private static final CANSparkMaxWrapper RIGHT = MotorConfigs.sparks.get("driveRight"); - private double right_demand; - private double left_demand; +// private double right_demand; +// private double left_demand; private boolean isBrakeMode; // Encoders private static final double ENCODER_TICKS_PER_REVOLUTION = 0.0; // TODO: 10/05/2019 replace with correct value - private static final double ENCODER_TICKS_PER_INCH = ENCODER_TICKS_PER_REVOLUTION / WHEEL_CIRCUMFERENCE_INCHES; + private static final double ENCODER_TICKS_PER_INCH = ENCODER_TICKS_PER_REVOLUTION / WHEEL_CIRCUMFERENCE; private static final double ENCODER_TICKS_PER_FOOT = ENCODER_TICKS_PER_INCH / 12; // Controls @@ -54,8 +72,11 @@ public class Drive extends Subsystem { private static final TeleopDriveType TELEOP_DRIVE_TYPE = TeleopDriveType.CURVATURE; private static final Button AUTO_BUTTON = SubsystemControlsConfig.autoButton; + // Drive + public SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(0.15, 0.068, 0.00686); + // Mode - private static DriveMode driveMode = DriveMode.OPEN_LOOP; + private static DriveMode driveMode = DriveMode.SMART_VELOCITY; // Auto private static final double ENCODER_TICKS_PER_DEGREE_TANK_TURN = 0.0; // TODO: 10/05/2019 need to find correct value using robot @@ -76,25 +97,75 @@ public enum TeleopDriveType { NetworkTableEntry tx = table.getEntry("tx"); NetworkTableEntry camtranEntry = table.getEntry("camtran"); - private static final int MAX_VELOCITY = 18000; // max velocity of velocity drive in rpm + private static final int MAX_VELOCITY = 5500; // max velocity of velocity drive in rpm VelocityDrive velocityDrive = new VelocityDrive(MAX_VELOCITY); CurvatureDrive curvatureDrive = new CurvatureDrive(TELEOP_DEAD_ZONE); ArcadeDrive arcadeDrive = curvatureDrive.getArcadeDrive(); + DriveDemand driveDemand = new DriveDemand(0, 0); + // Autonomous + private DifferentialDriveKinematics kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(48)); + private DifferentialDriveOdometry odometry = new DifferentialDriveOdometry(getHeading(), new Pose2d(0, 0, getHeading())); + private RamseteAuto auto; + private NetworkTableEntry velocityEntry = Shuffleboard.getTab("Tuning") - .addPersistent("Bruh", 0).getEntry(); + .addPersistent("Velocity Control", 0).getEntry(); private boolean velocityEnabled = velocityEntry.getNumber(0).intValue() == 1; private boolean velocityFailed = false; + // metrics + private long prevTime; + private double prevLeft; + private double prevRight; + Drive() { try { velocityDrive.configureMotor(LEFT, MotorConfigs.motorConfigs.getSparks().get("driveLeft")); velocityDrive.configureMotor(RIGHT, MotorConfigs.motorConfigs.getSparks().get("driveRight")); + LEFT.zero(); + RIGHT.zero(); + // be sure they're inverted correctly LEFT.setInverted(LEFT.getConfig().getInverted()); RIGHT.setInverted(RIGHT.getConfig().getInverted()); + + DriveDemand.circumference = WHEEL_CIRCUMFERENCE; + + prevTime = System.currentTimeMillis(); + prevLeft = LEFT.getEncoderPosition(); + prevRight = RIGHT.getEncoderPosition(); + + try { // define auto paths here + auto = new RamseteAuto(kinematics, List.of( + new GeneratedTrajectory("Path 1", false), + new GeneratedTrajectory("Path2", true) + )); + } catch (IOException e) { + System.out.println("Unable to read path files!"); + auto = null; // disable auto + e.printStackTrace(); + } + // testing ramsete +// auto = new RamseteAuto(kinematics, +// new Pose2d(0, 0, new Rotation2d(0)), +// List.of(), +// new Pose2d(2, 0, new Rotation2d(0))); +// auto = new RamseteAuto(kinematics, +// new Pose2d(0, 0, Rotation2d.fromDegrees(0)), +// List.of(new Translation2d(2, 0), +// new Translation2d(2, -1.7)), +// new Pose2d(0, -1.7, Rotation2d.fromDegrees(180))); +// auto.next(new RamseteAuto(kinematics, +// new Pose2d(0, -1.7, Rotation2d.fromDegrees(180)), +// List.of(new Translation2d(2, -1)), +// new Pose2d(4, -1.6, Rotation2d.fromDegrees(150)), true)); + +// auto = new RamseteAuto(kinematics, +// new Pose2d(0, 0, Rotation2d.fromDegrees(0)), +// List.of(new Translation2d(4, 2)), +// new Pose2d(4, 4, Rotation2d.fromDegrees(90))); } catch (SparkMaxException e) { velocityFailed = true; e.printStackTrace(); @@ -103,80 +174,40 @@ public enum TeleopDriveType { private void teleopDrive(TeleopDriveType driveType) { velocityEnabled = velocityEntry.getNumber(0).intValue() == 1; -// if (!(CURVATURE_FORWARD.get() > 0 && CURVATURE_REVERSE.get() > 0)) { -// velocityDrive.setAccelerating(false); -// } else { -// velocityDrive.setAccelerating(true); -// } - - // PATH CORRECTION - double[] camtran = camtranEntry.getDoubleArray(new double[]{0, 0, 0, 0, 0, 0}); - double x = camtran[0]; - double y = camtran[1]; - double pitch = camtran[4]; - - double correctionSteer = 0; - double difference = pitch - Math.atan(y / (x - 10.5)); - if (Math.abs(difference) > 0.5) { - double rawSteer = difference / 27; - correctionSteer = CORRECTION_MAX_STEER_SPEED * (Math.pow(rawSteer, 2) * (Math.abs(rawSteer) / rawSteer)); - } - - if (PIVOT_BUTTON.get()) { + odometry.update(getHeading(), Units.inchesToMeters(LEFT.getEncoderPosition() * GEAR_REDUCTION * WHEEL_CIRCUMFERENCE), Units.inchesToMeters(RIGHT.getEncoderPosition() * GEAR_REDUCTION * WHEEL_CIRCUMFERENCE)); - } - - if (AUTO_BUTTON.get() && Subsystems.MAIN_INTAKE.periodicIO.demand != MainIntake.Position.FRONT_HATCH.getPos() && Subsystems.MAIN_INTAKE.periodicIO.demand != MainIntake.Position.REAR_HATCH.getPos()) { - System.out.println("Correction Steer " + correctionSteer); - driveDemand = curvatureDrive.getDemand(CURVATURE_FORWARD.get(), CURVATURE_REVERSE.get(), correctionSteer, true); + if (AUTO_BUTTON.get()) { + if (auto != null) { + driveDemand = auto.getDemand(odometry.getPoseMeters()); + } } else if (driveType == TeleopDriveType.ARCADE) { + if (auto != null) auto.reset(); driveDemand = arcadeDrive.getDemand(ARCADE_Y_AXIS.get(), ARCADE_X_AXIS.get()); } else if (driveType == TeleopDriveType.CURVATURE) { + if (auto != null) auto.reset(); driveDemand = curvatureDrive.getDemand(CURVATURE_FORWARD.get(), CURVATURE_REVERSE.get(), CURVATURE_STEER.get(), PIVOT_BUTTON.get()); } - } - - private void curvatureDrive(double throttleForward, double throttleBackward, double steerX, boolean pivot) { -// double throttle = Math.pow(throttleForward, 2) - Math.pow(throttleBackward, 2); - double throttle = 2 * Math.asin(throttleForward - throttleBackward) / Math.PI; -// double steer = Math.sin((Math.PI / 2) * steerX ); - double steer = 2 * Math.asin(steerX) / Math.PI; - - steer = -steer; - arcadeDrive(pivot ? steer * .4 : throttle * steer, throttle); - } - - private void arcadeDrive(double x, double y) { - double maxPercent = 1.0; - double throttleLeft = 0; - double throttleRight = 0; - - double steer = 0; - - if (Math.abs(y) > TELEOP_DEAD_ZONE) { // dead zone - throttleLeft = maxPercent * y; - throttleRight = maxPercent * y; - } - if (Math.abs(x) > TELEOP_DEAD_ZONE) { - double xMax = 0.4; - steer = 1.0 * x; + if (driveMode == DriveMode.SMART_VELOCITY && !AUTO_BUTTON.get()) { + driveDemand = velocityDrive.getDemand(driveDemand); } -// -// System.out.println(throttleLeft + " " + throttleRight); + } -// System.out.println((throttleLeft - steer) + " " + (throttleLeft + steer)); + public Rotation2d getHeading() { + return Rotation2d.fromDegrees(gyro.getAngle()); + } - left_demand = throttleLeft + steer; - right_demand = throttleRight - steer; + public DifferentialDriveWheelSpeeds getWheelSpeeds() { + return new DifferentialDriveWheelSpeeds(Units.inchesToMeters(LEFT.getEncoder().getVelocity() * GEAR_REDUCTION * WHEEL_CIRCUMFERENCE), + Units.inchesToMeters(RIGHT.getEncoder().getVelocity() * GEAR_REDUCTION * WHEEL_CIRCUMFERENCE)); } private void autoDrive(double angle) { // If turning right, left moves forward and right moves backward // If turning left, right moves forward and left moves backward // TODO: 10/05/2019 I'm not sure this is right. I think there might be a better way to do it using trig. - left_demand = MIN_AUTO_POS_CHANGE + LEFT.getEncoderPosition() + (angle * ENCODER_TICKS_PER_DEGREE_TANK_TURN); - right_demand = MIN_AUTO_POS_CHANGE + RIGHT.getEncoderPosition() - (angle * ENCODER_TICKS_PER_DEGREE_TANK_TURN); +// left_demand = MIN_AUTO_POS_CHANGE + LEFT.getEncoderPosition() + (angle * ENCODER_TICKS_PER_DEGREE_TANK_TURN); +// right_demand = MIN_AUTO_POS_CHANGE + RIGHT.getEncoderPosition() - (angle * ENCODER_TICKS_PER_DEGREE_TANK_TURN); } @Override @@ -186,13 +217,26 @@ protected boolean checkSystem_() throws CTREException { @Override protected void outputTelemetry_() throws CTREException { - + SmartDashboard.putString("Pose", odometry.getPoseMeters().toString()); + SmartDashboard.putNumber("Left Pos", LEFT.getEncoderPosition()); + SmartDashboard.putNumber("Right Pos", RIGHT.getEncoderPosition()); +// SmartDashboard.putNumber("Left Velocity", ((LEFT.getEncoderPosition() - prevLeft) / (System.currentTimeMillis() - prevTime)) * 1000 * 60); +// SmartDashboard.putNumber("Right Velocity", ((RIGHT.getEncoderPosition() - prevRight) / (System.currentTimeMillis() - prevTime)) * 1000 * 60); + SmartDashboard.putNumber("Left Velocity", LEFT.getEncoder().getVelocity()); + SmartDashboard.putNumber("Right Velocity", LEFT.getEncoder().getVelocity()); + SmartDashboard.putNumber("Left Demand", driveDemand.getLeft()); + SmartDashboard.putNumber("Right Demand", driveDemand.getRight()); + SmartDashboard.putNumber("Autonomous Time", auto.getTimeDelta()); + + prevTime = System.currentTimeMillis(); + prevLeft = LEFT.getEncoderPosition(); + prevRight = RIGHT.getEncoderPosition(); } @Override protected void teleopControls_() throws CTREException, SparkMaxException { if (!isAuto) { - driveMode = DriveMode.OPEN_LOOP; + driveMode = DriveMode.SMART_VELOCITY; teleopDrive(TELEOP_DRIVE_TYPE); } else { driveMode = DriveMode.SMART_MOTION; @@ -217,11 +261,12 @@ protected void onEnabledStop_(double timestamp) throws CTREException { } protected synchronized void writePeriodicOutputs_() throws SparkMaxException { - if (!velocityFailed && velocityEnabled) { - double leftVelocity = velocityDrive.getVelocityFromDemand(driveDemand.getLeft()); - double rightVelocity = velocityDrive.getVelocityFromDemand(driveDemand.getRight()); - LEFT.set(leftVelocity, ControlType.kSmartVelocity); - RIGHT.set(rightVelocity, ControlType.kSmartVelocity); + if (driveMode == DriveMode.SMART_VELOCITY) { + double kR = 1.31; // ratio constant + double left = driveDemand.getLeft() * kR; + double right = driveDemand.getRight() * kR; + LEFT.set(left, driveMode.controlType, 0, feedforward.calculate(left / 60)); + RIGHT.set(right, driveMode.controlType, 0, feedforward.calculate(right / 60)); } else { LEFT.set(driveDemand.getLeft(), driveMode.controlType); RIGHT.set(driveDemand.getRight(), driveMode.controlType); @@ -244,7 +289,7 @@ public synchronized void setBrakeMode(boolean brake) { private enum DriveMode { OPEN_LOOP(ControlType.kDutyCycle), SMART_MOTION(ControlType.kSmartMotion), - VELOCITY(ControlType.kVelocity); + SMART_VELOCITY(ControlType.kSmartVelocity); ControlType controlType; diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/GroundIntake.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/GroundIntake.java index 538ee0b..d88075e 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/GroundIntake.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/GroundIntake.java @@ -9,7 +9,7 @@ import com.team2813.lib.sparkMax.SparkMaxException; import com.team2813.lib.talon.CTREException; import com.team2813.lib.talon.VictorWrapper; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.smartdashboard.SmartDashboard; public class GroundIntake extends Subsystem { @@ -78,8 +78,13 @@ protected void readPeriodicInputs_() { @Override protected void teleopControls_() { - if (Subsystems.MAIN_INTAKE.mode == MainIntake.GamePiece.HATCH_PANEL) return; - TOGGLE_POSITION.whenPressed(this::togglePosition); +// if (Subsystems.MAIN_INTAKE.mode == MainIntake.GamePiece.HATCH_PANEL) return; +// TOGGLE_POSITION.whenPressed(this::togglePosition); + try { + ROLLER.set(ControlMode.PercentOutput, -1); + } catch (CTREException e) { + e.printStackTrace(); + } } @Override diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/MainIntake.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/MainIntake.java index 844cf67..60e3632 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/MainIntake.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/MainIntake.java @@ -8,7 +8,7 @@ import com.team2813.lib.sparkMax.CANSparkMaxWrapper; import com.team2813.lib.sparkMax.SparkMaxException; import com.team2813.lib.talon.CTREException; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.smartdashboard.SmartDashboard; import static com.team2813.frc2019.subsystems.Subsystems.GROUND_INTAKE; import static com.team2813.lib.solenoid.PistonSolenoid.PistonState.EXTENDED; diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/GeneratedTrajectory.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/GeneratedTrajectory.java new file mode 100644 index 0000000..a5eb671 --- /dev/null +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/GeneratedTrajectory.java @@ -0,0 +1,26 @@ +package com.team2813.lib.auto; + +import jaci.pathfinder.PathfinderFRC; +import jaci.pathfinder.Trajectory; + +import java.io.IOException; + +public class GeneratedTrajectory { + private boolean reversed; + + private Trajectory trajectory; + + public GeneratedTrajectory(String pathName, boolean reversed) throws IOException { + this.reversed = reversed; + + trajectory = PathfinderFRC.getTrajectory(pathName); + } + + public boolean isReversed() { + return reversed; + } + + public Trajectory getTrajectory() { + return trajectory; + } +} \ No newline at end of file diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteAuto.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteAuto.java new file mode 100644 index 0000000..aa1d74c --- /dev/null +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteAuto.java @@ -0,0 +1,70 @@ +package com.team2813.lib.auto; + +import com.team2813.lib.drive.DriveDemand; +import edu.wpi.first.wpilibj.controller.RamseteController; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.wpilibj.trajectory.Trajectory; +import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; +import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; + +import java.util.List; + +public class RamseteAuto { + private DifferentialDriveKinematics kinematics; + private TrajectoryConfig config; + // private Trajectory trajectory; + private RamseteController controller; + private RamseteTrajectory trajectory; + private RamseteTrajectory genTrajectory; + + private double timeStart = -1; + + public RamseteAuto(DifferentialDriveKinematics kinematics, List trajectories) { + this.kinematics = kinematics; + trajectory = new RamseteTrajectory(trajectories); + controller = new RamseteController(); // use default gains + } + + public RamseteAuto(DifferentialDriveKinematics kinematics, Pose2d startVector, List translations, Pose2d endVector, boolean reversed) { + this.kinematics = kinematics; + + config = new TrajectoryConfig(2, 2) + .setReversed(reversed); + trajectory = new RamseteTrajectory(TrajectoryGenerator.generateTrajectory(startVector, translations, endVector, config), reversed); + controller = new RamseteController(); + } + + public RamseteAuto(DifferentialDriveKinematics kinematics, Pose2d startVector, List translations, Pose2d endVector) { + this(kinematics, startVector, translations, endVector, false); + } + + public DriveDemand getDemand(Pose2d currentRobotPose) { + if (timeStart == -1) { + timeStart = System.currentTimeMillis(); + } + + + double tDelta = (System.currentTimeMillis() - timeStart) / 1000; + TrajectorySample goal = trajectory.sample(tDelta); // sample the trajectory + Pose2d robotPose = goal.isReversed() ? new Pose2d(currentRobotPose.getTranslation(), currentRobotPose.getRotation().rotateBy(Rotation2d.fromDegrees(180))) : currentRobotPose; +// System.out.print(goal); + ChassisSpeeds adjustedSpeeds = controller.calculate(robotPose + , goal.getState()); + DriveDemand demand = new DriveDemand(kinematics.toWheelSpeeds(adjustedSpeeds)); + + return goal.isReversed() ? demand.reverse() : demand; +// return demand + } + + public double getTimeDelta() { + return (System.currentTimeMillis() - timeStart) / 1000; + } + + public void reset() { + timeStart = -1; + } +} diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteTrajectory.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteTrajectory.java new file mode 100644 index 0000000..5b8b22d --- /dev/null +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/RamseteTrajectory.java @@ -0,0 +1,92 @@ +package com.team2813.lib.auto; + +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.trajectory.Trajectory; + +import java.awt.geom.Point2D; +import java.util.ArrayList; +import java.util.List; +import java.util.Map; + +// interface between Jaci's trajectory (used in Pathweaver), WPILib 2020's trajectory, as well as RamseteAuto +public class RamseteTrajectory { + private List trajectories = new ArrayList<>(); + private List reversed = new ArrayList<>(); + + public RamseteTrajectory(Trajectory trajectory, boolean reversed) { + trajectories.add(trajectory); + this.reversed.add(reversed); + } + + public RamseteTrajectory(List generatedTrajectories) { + for (GeneratedTrajectory generatedTrajectory : generatedTrajectories) { + trajectories.add(pathweaverToWPI(generatedTrajectory)); + reversed.add(generatedTrajectory.isReversed()); + } + } + + private Trajectory pathweaverToWPI(GeneratedTrajectory generatedTrajectory) { + List states = new ArrayList(); + jaci.pathfinder.Trajectory trajectory = generatedTrajectory.getTrajectory(); + for (int i = 0; i < trajectory.length(); i++) { + double time = i * .02; // milliseconds + jaci.pathfinder.Trajectory.Segment segment = trajectory.get(i); + + // find curvature + double curvature; + if (i == 0) + curvature = calculateCurvature(segment, trajectory.get(i + 1), trajectory.get(i + 2)); + else if (i == trajectory.length() - 1) + curvature = calculateCurvature(trajectory.get(i - 2), trajectory.get(i - 1), segment); + else + curvature = calculateCurvature(trajectory.get(i - 1), segment, trajectory.get(i + 1)); + + states.add(new Trajectory.State(time, + segment.velocity, + segment.acceleration, + new Pose2d(segment.x, segment.y, Rotation2d.fromDegrees(Math.toDegrees(segment.heading))), + curvature)); + } + + return new Trajectory(states); + } + + // https://stackoverflow.com/questions/41144224/calculate-curvature-for-3-points-x-y + private double calculateCurvature(jaci.pathfinder.Trajectory.Segment a, jaci.pathfinder.Trajectory.Segment b, jaci.pathfinder.Trajectory.Segment c) { + Point2D p0 = new Point2D.Double(a.x, a.y); + Point2D p1 = new Point2D.Double(b.x, b.y); + Point2D p2 = new Point2D.Double(c.x, c.y); + + double dx1 = p1.getX() - p0.getX(); + double dy1 = p1.getY() - p0.getY(); + double dx2 = p2.getX() - p0.getX(); + double dy2 = p2.getY() - p0.getY(); + double area = dx1 * dy2 - dy1 * dx2; + double len0 = p0.distance(p1); + double len1 = p1.distance(p2); + double len2 = p2.distance(p0); + double curvature = 4 * area / (len0 * len1 * len2); + if (!((Double) curvature).isNaN()) + return curvature; + return 0; + } + + public TrajectorySample sample(double dt) { + double time = 0; + for (int i = 0; i < trajectories.size(); i++) { + Trajectory trajectory = trajectories.get(i); + if (dt < time + trajectory.getTotalTimeSeconds()) + return new TrajectorySample(trajectory.sample(dt - time), reversed.get(i)); + else + time += trajectory.getTotalTimeSeconds(); + } + return new TrajectorySample(trajectories.get(0).sample(dt), reversed.get(0)); + } + + + + public List getTrajectories() { + return this.trajectories; + } +} diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/TrajectorySample.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/TrajectorySample.java new file mode 100644 index 0000000..3742e66 --- /dev/null +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/auto/TrajectorySample.java @@ -0,0 +1,21 @@ +package com.team2813.lib.auto; + +import edu.wpi.first.wpilibj.trajectory.Trajectory; + +public class TrajectorySample { + private Trajectory.State state; + private boolean reversed; + + public TrajectorySample(Trajectory.State state, boolean reversed) { + this.state = state; + this.reversed = reversed; + } + + public Trajectory.State getState() { + return state; + } + + public boolean isReversed() { + return reversed; + } +} diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/config/MotorConfigs.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/config/MotorConfigs.java index 841b1cd..17e4e62 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/lib/config/MotorConfigs.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/config/MotorConfigs.java @@ -24,7 +24,7 @@ public class MotorConfigs { private static List ids = new ArrayList<>(); - public static void read() throws IOException { + public static void read(Runnable onFinish) throws IOException { File deployDirectory = Filesystem.getDeployDirectory(); File configFile = new File(deployDirectory.getAbsolutePath() + "/motorConfig.yaml"); @@ -35,6 +35,8 @@ public static void read() throws IOException { motorConfigs.getVictors().forEach(((s, victorConfig) -> victors.put(s, initializeVictor(victorConfig)))); System.out.println("Successful!"); + + onFinish.run(); } private static CANSparkMaxWrapper initializeSpark(SparkConfig config) { @@ -48,6 +50,7 @@ private static CANSparkMaxWrapper initializeSpark(SparkConfig config) { System.out.println("Configuring " + config.getSubsystemName()); CANSparkMaxWrapper spark = new CANSparkMaxWrapper(config.getDeviceNumber(), config.getSubsystemName(), config.getType().getValue()); + spark.setCANTimeout(5000); try { spark.factoryDefault(); @@ -86,6 +89,8 @@ private static CANSparkMaxWrapper initializeSpark(SparkConfig config) { spark.getPIDController().setSmartMotionMaxVelocity(pidController.getMaxVelocity(), slotID); spark.getPIDController().setSmartMotionMaxAccel(pidController.getMaxAcceleration(), slotID); spark.getPIDController().setSmartMotionMinOutputVelocity(pidController.getMinVelocity(), slotID); + + spark.getPIDController().setOutputRange(-1, 1); } diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/DriveDemand.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/DriveDemand.java index d87a604..f635f82 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/DriveDemand.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/DriveDemand.java @@ -1,14 +1,30 @@ package com.team2813.lib.drive; +import edu.wpi.first.wpilibj2.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.wpilibj2.util.Units; + public class DriveDemand { - private final double left; - private final double right; + public static double circumference = 1; // default should be set on init + private double left; + private double right; public DriveDemand(double left, double right) { this.left = left; this.right = right; } + public DriveDemand(DifferentialDriveWheelSpeeds wheelSpeeds) { // to rpm + left = Units.metersToInches(wheelSpeeds.leftMetersPerSecond) * 60 / circumference / (9.0 / 60); + right = Units.metersToInches(wheelSpeeds.rightMetersPerSecond) * 60 / circumference / (9.0 / 60); + } + + public DriveDemand reverse() { + double temp = left; + left = -right; + right = -temp; + return this; + } + public double getLeft() { return left; } @@ -16,4 +32,9 @@ public double getLeft() { public double getRight() { return right; } + + @Override + public String toString() { + return "(" + left + ", " + right + ")"; + } } diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java index a6bbdef..0027dd4 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java @@ -1,5 +1,6 @@ package com.team2813.lib.drive; +import com.team2813.frc2019.subsystems.Drive; import com.team2813.lib.config.PIDControllerConfig; import com.team2813.lib.config.SparkConfig; import com.team2813.lib.sparkMax.CANSparkMaxWrapper; @@ -37,7 +38,11 @@ public void setMaxVelocity(int maxVelocity) { // } // } - public double getVelocityFromDemand(double demand) { + public DriveDemand getDemand(DriveDemand demand) { + return new DriveDemand(getVelocityFromDemand(demand.getLeft()), getVelocityFromDemand(demand.getRight())); + } + + private double getVelocityFromDemand(double demand) { return maxVelocity * demand; } } diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java index 0219f1f..8e7ba79 100644 --- a/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java +++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java @@ -444,6 +444,10 @@ public void setInverted(Inverted isInverted) { super.setInverted(false); } + public void zero() { + getEncoder().setPosition(0); + } + public SparkConfig getConfig() { return config; } diff --git a/OffSeasonBot2019/src/test/java/com/team2813/lib/auto/RamseteTrajectoryTest.java b/OffSeasonBot2019/src/test/java/com/team2813/lib/auto/RamseteTrajectoryTest.java new file mode 100644 index 0000000..61fc5cd --- /dev/null +++ b/OffSeasonBot2019/src/test/java/com/team2813/lib/auto/RamseteTrajectoryTest.java @@ -0,0 +1,24 @@ +package com.team2813.lib.auto; + +import edu.wpi.first.wpilibj2.controller.RamseteController; +import edu.wpi.first.wpilibj2.geometry.Pose2d; +import edu.wpi.first.wpilibj2.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.geometry.Translation2d; +import edu.wpi.first.wpilibj2.trajectory.Trajectory; +import edu.wpi.first.wpilibj2.trajectory.TrajectoryConfig; +import edu.wpi.first.wpilibj2.trajectory.TrajectoryGenerator; +import org.junit.Test; + +import java.io.IOException; +import java.util.List; + +public class RamseteTrajectoryTest { + @Test + public void testPathweaverToWPI() throws IOException { + RamseteTrajectory trajectory = new RamseteTrajectory(List.of(new GeneratedTrajectory("Middle Blue to Top Left Rocket Outer", false))); + + for (Trajectory.State state : trajectory.getTrajectories().get(0).getStates()) { + System.out.println(state.toString()); + } + } +} diff --git a/OffSeasonBot2019/vendordeps/PathfinderOLD.json b/OffSeasonBot2019/vendordeps/PathfinderOLD.json new file mode 100644 index 0000000..eb4c0f5 --- /dev/null +++ b/OffSeasonBot2019/vendordeps/PathfinderOLD.json @@ -0,0 +1,87 @@ +{ + "fileName": "PathfinderOLD.json", + "name": "PathfinderOld", + "version": "2019.3.06-UNSTABLE", + "uuid": "7194a2d4-2860-4bcc-86c0-97879737d875", + "mavenUrls": [ + "https://dev.imjac.in/maven" + ], + "jsonUrl": "https://dev.imjac.in/maven/jaci/pathfinder/PathfinderOLD-latest.json", + "cppDependencies": [ + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-Core", + "version": "2019.3.06-UNSTABLE", + "libName": "pathfinder", + "configuration": "native_pathfinder_old", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxx86-64", + "windowsx86-64", + "osxx86-64", + "linuxathena", + "linuxraspbian" + ] + }, + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-FRCSupport", + "version": "2019.3.06-UNSTABLE", + "libName": "pathfinder_frc", + "configuration": "native_pathfinder_old", + "headerClassifier": "headers", + "binaryPlatforms": [ + + ] + } + ], + "javaDependencies": [ + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-Java", + "version": "2019.3.06-UNSTABLE" + }, + { + "groupId": "jaci.jniloader", + "artifactId": "JNILoader", + "version": "1.0.1" + }, + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-FRCSupport", + "version": "2019.3.06-UNSTABLE" + } + ], + "jniDependencies": [ + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-JNI", + "version": "2019.3.06-UNSTABLE", + "isJar": true, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxx86-64", + "windowsx86-64", + "osxx86-64", + "linuxathena", + "linuxraspbian" + ] + }, + { + "groupId": "jaci.pathfinder", + "artifactId": "Pathfinder-CoreJNI", + "version": "2019.3.06-UNSTABLE", + "isJar": true, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxx86-64", + "windowsx86-64", + "osxx86-64", + "linuxathena", + "linuxraspbian" + ] + } + ] +} \ No newline at end of file