WPILibBrain Mapping

[PepperLola]

Changes:

• Added mapping of PWM and CAN groups
  • Modals to select initialized PWM ports and drivers
• Added mirabuf joint instance info to drivers so the config UI can display joint names along with driver types to better differentiate them when selecting

Testing:

1. Run simulator
2. Create PWM group (CAN not within the scope of this PR)
   1. Ensure WS data is there and only the initialized PWM port (0 in Java sample code) shows up on the left
   2. Ensure driver type and joint names show up on the right
3. When in disconnected or disabled mode, console should print 0 0, meaning port 0 and speed 0
4. Enable autonomous mode in the simulator and ensure it now prints 0 0.5
5. Enable teleop mode and ensure it prints 0 0.25

Note

There is commented out PWM driving code in WPILibBrain.ts in the PWMGroup class Update method. You can uncomment it to make the robot actually move instead of just printing the speed to the console.

Running the simulator

1. Navigate to the simulation directory in the root of the synthesis project
2. Navigate into `SyntheSimJava
3. Run ./gradlew build && ./gradlew publishToMavenLocal
4. Navigate to simulation/samples/JavaSample
5. Install WPILib utilities if you don't have them
6. Open the JavaSample project in WPILib VSCode
7. Install Phoenix v6 and REVLib vendor libraries
   1. https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json
   2. https://software-metadata.revrobotics.com/REVLib-2024.json
8. Run ./gradlew build && ./gradlew simulateJava

Note

See the SyntheSimJava README for documentation on the library.

JIRA Issue

[azaleacolburn]

It worked perfectly

[azaleacolburn]

LGTM

[BrandonPacewic]

It indeed works, looking forward to what the final product of this is going to look like.