FRC Team 3555's Standard Java Library

This library provides an easy way to interface with WPILIB. It also includes some helper classes for programming a robot. The library includes various wrapper classes to ease programming and to make the robot more reliable (setting factory defaults).

Features

• A static class that contains the library version and contains various settings that can be modified at runtime
• A drive helper class adapted from Team 254's code: It supports both arcade and cheesy drive
• A class to keep track of motor groups: It automatically sets the follower motors to follow the master
• A drive helper class that facilitates shifting between high and low gear
• A Pigeon gyro wrapper class
• A joystick wrapper class which has methods for squared output
• An Xbox controller wrapper class which also has methods for squared output
• Motor and relay wrapper classes with which contain automatic current warnings with a common interface (Spark, Talon, TalonSRX, and VictorSPX)
• A wrapper class for the pneumatics compressor which always has closedloop control enabled
• Wrapper classes for both single and double solenoids
• A custom robot superclass which allows for the timed robot delay to be intuitively adjusted
• A wrapper class to allows multiple cameras to be started more easily
• A wrapper class from the Limelight which supports all commonly used features
• Support for detecting motor controller, encoder, and gyro failures
• TalonSRX and VictorSPX firmware version validation
• Pure pursuit path following using 254's code
• Support for dual gyros

Dependencies

• Java 11+
• WPILIB
• CTRE Phoenix Library

Examples

• https://github.com/FRCAluminati3555/Standard_Library_Example

Testing robot code in VS Code

@Override
  public void startCompetition() {
    robotInit();

    disabledInit();

    for (double i = 0; i < 3; i += 0.02) {
      robotPeriodic();
      disabledPeriodic();
      Timer.delay(0.02);
    }

    autonomousInit();
    robotMode = RobotMode.AUTONOMOUS;
    autoTask = new ModeExamplePath(robotState, driveSystem);

    while (true) {
      robotPeriodic();
      autonomousPeriodic();
      Timer.delay(0.02);
    }
  }