Merge branch 'master' into stall-safety

.travis.yml

@@ -4,5 +4,5 @@ branches:
     - master
 script:
   - cp project/CrossSettings.template project/CrossSettings.scala
-  - sbt robotJVM/assembly robotNative/compile robotJVM/scalafixTest
+  - sbt robotJVM/test robotJVM/assembly robotNative/compile robotJVM/scalafixTest
   - ./scalafmt --test

build.sbt

@@ -31,7 +31,8 @@ lazy val robot = crossProject(JVMPlatform, NativePlatform)
     libraryDependencies += "edu.wpi.first" % "ntcore" % wpiVersion,
     libraryDependencies += "edu.wpi.first" % "wpiutil" % wpiVersion,
     libraryDependencies += "com.ctre" % "phoenix" % "5.1.3.1",
-    libraryDependencies += "org.opencv" % "opencv-java" % "3.2.0"
+    libraryDependencies += "org.opencv" % "opencv-java" % "3.2.0",
+    libraryDependencies += "org.scalatest" %% "scalatest" % "3.0.5" % Test
   )
   .nativeSettings(
     libraryDependencies += "com.lynbrookrobotics" %%% "wpilib-scala-native" % "0.1.2",

jvm/src/test/scala/com/lynbrookrobotics/eighteen/ConfigValidTest.scala

@@ -0,0 +1,23 @@
+package com.lynbrookrobotics.eighteen
+
+import argonaut.Argonaut._
+import org.scalatest.FunSuite
+
+import scala.io.Source
+
+class ConfigValidTest extends FunSuite {
+  test("Default config is valid") {
+    val decoded = DefaultConfig.json.decodeEither[RobotConfig](RobotConfig.reader)
+    decoded.left.foreach(s => throw new Exception(s))
+  }
+
+  test("robot-config.json is valid") {
+    val decoded = Source.fromFile("robot-config.json").mkString.decodeEither[RobotConfig](RobotConfig.reader)
+    decoded.left.foreach(s => throw new Exception(s))
+  }
+
+  test("practice-robot-config.json is valid") {
+    val decoded = Source.fromFile("practice-robot-config.json").mkString.decodeEither[RobotConfig](RobotConfig.reader)
+    decoded.left.foreach(s => throw new Exception(s))
+  }
+}

practice-robot-config.json

@@ -92,6 +92,10 @@
       "minHeight": [
         0.25,
         "Inches"
+      ],
+      "twistyTotalRange": [
+        1.5,
+        "Feet"
       ]
     },
     "ports": {
@@ -106,7 +110,7 @@
   },
   "drivetrain": {
     "ports": {
-      "practiceSpeedControllers": true,
+      "practiceSpeedControllers": false,
       "rightFollowerPort": 14,
       "leftFollowerPort": 12,
       "rightPort": 13,

robot-config.json

@@ -1,14 +1,18 @@
 {
   "cubeLift": {
     "props": {
-      "scaleHeight": [
-        30,
+      "lowScaleHeight": [
+        66,
+        "Inches"
+      ],
+      "highScaleHeight": [
+        68,
         "Inches"
       ],
       "pidConfig": {
         "kd": {
           "den": [
-            5,
+            1,
             "FeetPerSecond"
           ],
           "num": [
@@ -28,17 +32,17 @@
         },
         "kp": {
           "den": [
-            5,
+            0.8,
             "Feet"
           ],
           "num": [
-            0,
+            100,
             "Percent"
           ]
         }
       },
       "collectHeight": [
-        2,
+        0.5,
         "Inches"
       ],
       "voltageAtBottom": [
@@ -50,7 +54,11 @@
         "Inches"
       ],
       "switchHeight": [
-        20,
+        25,
+        "Inches"
+      ],
+      "exchangeHeight": [
+        4,
         "Inches"
       ],
       "voltageOverHeight": {
@@ -64,7 +72,7 @@
         ]
       },
       "maxMotorOutput": [
-        80,
+        100,
         "Percent"
       ],
       "talonOverVoltage": {
@@ -78,11 +86,11 @@
         ]
       },
       "maxHeight": [
-        75,
+        73,
         "Inches"
       ],
       "minHeight": [
-        1,
+        0.25,
         "Inches"
       ],
       "maxCurrentDraw": [
@@ -92,6 +100,10 @@
       "stallTimeout": [
         3,
         "Seconds"
+      ],
+      "twistyTotalRange": [
+        -1.5,
+        "Feet"
       ]
     },
     "ports": {
@@ -114,7 +126,7 @@
     },
     "props": {
       "maxLeftVelocity": [
-        18.8,
+        17.7,
         "FeetPerSecond"
       ],
       "turnVelocityGains": {
@@ -140,11 +152,11 @@
         },
         "kp": {
           "den": [
-            1,
+            360,
             "DegreesPerSecond"
           ],
           "num": [
-            0,
+            50,
             "Percent"
           ]
         }
@@ -154,19 +166,19 @@
         "Feet"
       ],
       "maxAcceleration": [
-        0,
+        5,
         "FeetPerSecondSquared"
       ],
       "maxCurrent": [
-        25,
+        35,
         "Amperes"
       ],
       "parallelMotorCurrentThreshold" : [
         5,
         "Amperes"
       ],
       "maxRightVelocity": [
-        19.25,
+        17.7,
         "FeetPerSecond"
       ],
       "track": [
@@ -179,7 +191,7 @@
       ],
       "wheelOverEncoderGears": {
         "num": [
-          17,
+          18,
           "Turns"
         ],
         "den": [
@@ -210,11 +222,11 @@
         },
         "kp": {
           "den": [
-            5,
+            4,
             "FeetPerSecond"
           ],
           "num": [
-            0,
+            80,
             "Percent"
           ]
         }
@@ -242,11 +254,11 @@
         },
         "kp": {
           "den": [
-            1,
+            360,
             "Degrees"
           ],
           "num": [
-            0,
+            50,
             "Percent"
           ]
         }
@@ -275,11 +287,11 @@
         },
         "kp": {
           "den": [
-            5,
+            4,
             "FeetPerSecond"
           ],
           "num": [
-            0,
+            80,
             "Percent"
           ]
         }
@@ -311,7 +323,7 @@
             "Feet"
           ],
           "num": [
-            0,
+            50,
             "Percent"
           ]
         }
@@ -356,10 +368,14 @@
       "collectSpeed": [
         50,
         "Percent"
+      ],
+      "purgeSpeed": [
+        70,
+        "Percent"
       ]
     }
   },
   "climberWinch": null,
   "enableLimelight": false,
   "led": null
-}
+}