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Add Gatorade robot code to 2024 repo #4
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contains some light changes for WPILib 2024, around DriverStation.getAlliance(). still needs some work before this can compile, especially around Odometry which contains some robot-specific code.
will clean up in future cls as we iterate on odometry.
rcahoon
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Jan 10, 2024
dejabot
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Jan 15, 2024
* add gatorade code to 2024 contains some light changes for WPILib 2024, around DriverStation.getAlliance(). still needs some work before this can compile, especially around Odometry which contains some robot-specific code. * temporarily tie odometry to gatorade code. will clean up in future cls as we iterate on odometry. * update latest from 2023-Gatorade
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Description
This PR pulls in our Gatorade mechanism/procedure/OI/auton code into the 2024 repo, under the
com.team766.robot.gatoradepackage. It also pulls in the Odometry code from 2023{-Gatorade} code, although that code currently has a dependency on the Gatorade code (specifically the Gyro mechanism). A future PR will decouple the Odometry code from specific robots to allow us to use it across robots.The PR looks like a lot of new code due to challenges using a more simple
git mergegiven the existing merge history, where we only merged non-robot specific code from 2023-Gatorade into MaroonFramework (which was copied for 2024). However, it's purely a copy of the code under Gatorade's com.team766.robot plus com.team766.odometry. From there, the only changes we made are:com.team766.robottocom.team766.robot.gatorade.com.team766.robot.gatorade(temporarily).DriverStation.getAlliance()to handle a return value ofOptional<Alliance>(vs just anAlliance) - one of the 2024 breaking API changes.This PR does not update
GenericRobotMainto refer to the Gatorade robot code; we will merge this code intomain(to allow for future CLs to pull out Swerve and Odometry code for code sharing) and then create agatoradebranch for Gatorade-specific work.We are doing this PR now to set up for Odometry, Trajectory following, and Vision development off of common code.
How Has This Been Tested?
Not tested yet. Will test on Gatorade after we are able to start using it for 2024 development (updating it to the 2024 RoboRio image, etc). We're looking to set up this code in advance to allow for developing some of the above in the 2024 repo.