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Common robot utilities.

License: MIT License

Java 100.00%

frc first-robotics-competition frc-java

robotlib's Introduction

RobotLib

Overview

RobotLib is the library created and used by Team Arctos containing many common robot utilities to simplify robot programming. It contains everything from logging to XBox controller utilities, and much more.

Usage

Setup

To use this library, first grab the jar from the latest release and put it somewhere in your robot project, say in the lib directory. Then, in build.gradle, under dependencies, add this line: compile files('path/to/jar'). Your new dependencies should look something like this:

dependencies {
    compile wpi.deps.wpilib()
    compile wpi.deps.vendor.java()

    compile files('lib/RobotLib-0.2.0.jar')
    
    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
    testCompile 'junit:junit:4.12'
}

Documentation

All classes in the public API are documented with Javadocs. For every release, you can find the Javadocs as RobotLib-Doc-<VERSION>.zip.

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robotlib's Issues

Rewrite buttons and triggers for the new framework

Rewrite all buttons and triggers for the new command-based framework.

Deprecate XboxControllerButtons

The XboxControllerButtons class should be deprecated as the XboxController.Axis and XboxController.Button enums were added in WPILib 2020.2.2.

IllegalArgumentException thrown in RobotLogger.init() when directory does not exist

https://github.com/Arctos6135/RobotLib/blob/master/src/main/java/com/arctos6135/robotlib/logging/RobotLogger.java#L145-L147 causes RobotLogger to throw an IllegalArgumentException if the file passed in is not a directory. However, this also seems to cause it to throw an exception if the directory does not yet exist, making it impossible to create a new directory for logging.

Add Limelight class

Add a convenience class for working with Limelight smart cameras. The code can be taken from the frc-2020 repo.

Add Teleop Drive command

Since the same drive controls are used every year, it might be good to include a base teleop drive command that provides the basic driving and can be extended by user code.

Deprecate AllOfButton and AnyOfButton

The new command-based programming framework in WPILib for 2020 already includes Trigger.and(Trigger) and Trigger.or(Trigger), which makes these unnecessary. Once WPILib 2020 is released, they should be marked as deprecated.

NullPointerException in RobotLogger.cleanLogs(long)

A NullPointerException is thrown by RobotLogger.cleanLogs(long) every time it's called since the various overloads of RobotLogger.init(Class) do not actually set this.logDir.

Set up unit tests

Set up unit tests for classes where possible to make sure the code works.

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