Multiple Robot Support

.devcontainer/devcontainer.json

@@ -0,0 +1,11 @@
+{
+    "image": "mcr.microsoft.com/devcontainers/universal:2",
+    "postCreateCommand": "cd /opt && wget 'https://github.com/wpilibsuite/vscode-wpilib/releases/download/v2024.3.1/vscode-wpilib-2024.3.1.vsix'",
+    "features": {
+    },
+    "customizations": {
+      "vscode": {
+        "extensions": ["/opt/vscode-wpilib-2024.3.1.vsix","vscjava.vscode-java-pack","vscjava.vscode-gradle"]
+      }
+    }
+}

src/main/java/frc/robot/Constants.java

@@ -18,20 +18,29 @@ public final class Constants {
 
     public static enum Robot {
         COMPETITION,
-        PRACTICE
+        PRACTICE,
+        SIMBOT
     }
 
-    public static enum RobotMode {
+    public static enum RobotEnvironment {
         REAL,
         SIMULATED,
         REPLAYED
     }
 
-    public static final Robot ROBOT = Robot.COMPETITION; // The robot currently running.
-    public static final boolean REPLAYING = false; // Should the simulation start into replay mode when not running on the RIO?
-    public static final boolean SAVE_SIMULATED_LOGS = false; // Should the physics simulation mode save a .wpilog?
+    // The robot currently running. Change to simbot to use simulation.
+    public static final Robot ROBOT = Robot.COMPETITION;
+
+    // Check to see if configured robot is configured incorrectly for the runtime.
+    static {
+        if (RobotBase.isReal() && ROBOT == Robot.SIMBOT) {
+            throw new RuntimeException("Invalid Configuration! Robot set to simulation on real bot!");
+        }
+    }
+
+    public static final RobotEnvironment ENVIRONMENT = RobotBase.isReal() ? RobotEnvironment.REAL : (ROBOT == Robot.SIMBOT ? RobotEnvironment.SIMULATED : RobotEnvironment.REPLAYED);
 
-    public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.REAL : (REPLAYING ? RobotMode.REPLAYED : RobotMode.SIMULATED);
+    public static final boolean SAVE_SIMULATED_LOGS = false; // Should the physics simulation mode save a .wpilog?
 
     public static class OperatorConstants {
         public static final int kDriverControllerPort = 0;

src/main/java/frc/robot/Robot.java

@@ -56,7 +56,7 @@ public void robotInit() {
         }
 
         // Set up data flow
-        switch (Constants.ROBOT_MODE) {
+        switch (Constants.ENVIRONMENT) {
             case REAL:
                 Logger.addDataReceiver(new WPILOGWriter());
                 Logger.addDataReceiver(new NT4Publisher());
@@ -84,7 +84,7 @@ public void robotInit() {
                 break;
         }
 
-        Logger.recordMetadata("Environment", Constants.ROBOT_MODE.toString());
+        Logger.recordMetadata("Environment", Constants.ENVIRONMENT.toString());
 
         // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
         Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.

src/main/java/frc/robot/RobotContainer.java

@@ -9,10 +9,11 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
+import frc.robot.Constants.RobotEnvironment;
 import frc.robot.commands.drive.TeleopSwerveDrive;
 import frc.robot.generated.CompSwerveConstants;
-import frc.robot.subsystems.IntakeShooter.IntakeShooterIOHardware;
-import frc.robot.subsystems.IntakeShooter.IntakeShooterSubsystem;
+import frc.robot.subsystems.Swerve.SwerveIO;
+import frc.robot.subsystems.Swerve.SwerveIOCTRE;
 import frc.robot.subsystems.Swerve.SwerveSubsystem;
 import frc.robot.subsystems.oi.OISubsystem;
 
@@ -31,16 +32,48 @@ public class RobotContainer {
         new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
     // Subsystems
-
-    private final SwerveSubsystem drivetrain_ = new SwerveSubsystem(CompSwerveConstants.DriveTrain); 
 
-    private final IntakeShooterSubsystem intake_shooter_ =
-        new IntakeShooterSubsystem(new IntakeShooterIOHardware());
+    // Init with default implementations in case robot is configured wrongly or is in replay. This will be overitten later.
+    private SwerveSubsystem drivetrain_ = new SwerveSubsystem(new SwerveIO() {});
 
     private final OISubsystem oiPanel_ = new OISubsystem(OperatorConstants.kOperatorInterfacePort);
 
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
     public RobotContainer() {
+
+        // Set up real subsystems based on the runtime environment.
+        if (Constants.ENVIRONMENT != RobotEnvironment.REPLAYED) {
+            switch (Constants.ROBOT) {
+                case COMPETITION -> {
+                    drivetrain_ = new SwerveSubsystem(new SwerveIOCTRE(
+                        CompSwerveConstants.DrivetrainConstants,
+                        CompSwerveConstants.FrontLeft,
+                        CompSwerveConstants.FrontRight,
+                        CompSwerveConstants.BackLeft,
+                        CompSwerveConstants.BackRight
+                    ));
+                }
+                case PRACTICE -> {
+                    drivetrain_ = new SwerveSubsystem(new SwerveIOCTRE(
+                        CompSwerveConstants.DrivetrainConstants,
+                        CompSwerveConstants.FrontLeft,
+                        CompSwerveConstants.FrontRight,
+                        CompSwerveConstants.BackLeft,
+                        CompSwerveConstants.BackRight
+                    )); // Change for other tuner constants when they are generated.
+                }
+                case SIMBOT -> {
+                    drivetrain_ = new SwerveSubsystem(new SwerveIOCTRE(
+                        CompSwerveConstants.DrivetrainConstants,
+                        CompSwerveConstants.FrontLeft,
+                        CompSwerveConstants.FrontRight,
+                        CompSwerveConstants.BackLeft,
+                        CompSwerveConstants.BackRight
+                    )); // Should auto simulate.
+                }
+            }
+        }
+
         // Configure the trigger bindings
         configureBindings();
         setupDrivetrain();

src/main/java/frc/robot/generated/CompSwerveConstants.java

@@ -12,7 +12,6 @@
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstantsFactory;
 
 import edu.wpi.first.math.util.Units;
-import frc.robot.subsystems.Swerve.SwerveIOCTRE;
 
 // Generated by the Tuner X Swerve Project Generator
 // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
@@ -83,7 +82,7 @@ public class CompSwerveConstants {
     private static final double kSteerFrictionVoltage = 0.25;
     private static final double kDriveFrictionVoltage = 0.25;
 
-    private static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
             .withCANbusName(kCANbusName)
             .withPigeon2Id(kPigeonId)
             .withPigeon2Configs(pigeonConfigs);
@@ -147,15 +146,13 @@ public class CompSwerveConstants {
     private static final double kBackRightYPosInches = -11.375;
 
 
-    private static final SwerveModuleConstants FrontLeft = ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants FrontLeft = ConstantCreator.createModuleConstants(
             kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset, Units.inchesToMeters(kFrontLeftXPosInches), Units.inchesToMeters(kFrontLeftYPosInches), kInvertLeftSide);
-    private static final SwerveModuleConstants FrontRight = ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants FrontRight = ConstantCreator.createModuleConstants(
             kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset, Units.inchesToMeters(kFrontRightXPosInches), Units.inchesToMeters(kFrontRightYPosInches), kInvertRightSide);
-    private static final SwerveModuleConstants BackLeft = ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants BackLeft = ConstantCreator.createModuleConstants(
             kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, Units.inchesToMeters(kBackLeftXPosInches), Units.inchesToMeters(kBackLeftYPosInches), kInvertLeftSide);
-    private static final SwerveModuleConstants BackRight = ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants BackRight = ConstantCreator.createModuleConstants(
             kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset, Units.inchesToMeters(kBackRightXPosInches), Units.inchesToMeters(kBackRightYPosInches), kInvertRightSide);
 
-    public static final SwerveIOCTRE DriveTrain = new SwerveIOCTRE(DrivetrainConstants, FrontLeft,
-            FrontRight, BackLeft, BackRight);
 }

src/main/java/frc/robot/subsystems/Swerve/SwerveIO.java

@@ -17,8 +17,20 @@ public interface SwerveIO {
 
     @AutoLog
     public static class SwerveIOInputs {
-        public SwerveModuleState[] moduleStates = new SwerveModuleState[4];
-        public SwerveModuleState[] moduleTargetStates = new SwerveModuleState[4];
+        public SwerveModuleState[] moduleStates = {
+            new SwerveModuleState(),
+            new SwerveModuleState(),
+            new SwerveModuleState(),
+            new SwerveModuleState()
+        };
+
+        public SwerveModuleState[] moduleTargetStates = {
+            new SwerveModuleState(),
+            new SwerveModuleState(),
+            new SwerveModuleState(),
+            new SwerveModuleState()
+        };
+
         public Pose2d pose = new Pose2d();
         public ChassisSpeeds speeds = new ChassisSpeeds();
         public double odometryPeriodSeconds = 0.0;
@@ -30,16 +42,16 @@ public static class SwerveIOInputs {
         public boolean odometryIsValid = false;
     }
 
-    public void updateInputs(SwerveIOInputsAutoLogged inputs);
+    public default void updateInputs(SwerveIOInputsAutoLogged inputs) {};
 
-    public void setOperatorPerspectiveForward(Rotation2d fieldDirection);
+    public default void setOperatorPerspectiveForward(Rotation2d fieldDirection) {};
 
-    public void setControl(SwerveRequest request);
+    public default void setControl(SwerveRequest request) {};
 
-    public void seedFieldRelative(Pose2d pose2d);
-    public void seedFieldRelative();
+    public default void seedFieldRelative(Pose2d pose2d) {};
+    public default void seedFieldRelative() {};
 
-    public void addVisionMeasurement(Pose2d visionMeasurement, double timestampSeconds);
-    public void addVisionMeasurement(Pose2d visionMeasurement, double timestampSeconds, Matrix<N3, N1> visionMeasurementStdDevs);
+    public default void addVisionMeasurement(Pose2d visionMeasurement, double timestampSeconds) {};
+    public default void addVisionMeasurement(Pose2d visionMeasurement, double timestampSeconds, Matrix<N3, N1> visionMeasurementStdDevs) {};
 
 }