CAN Support

[azaleacolburn]

Description

Send, receive, and use CAN device data between a robot project and fission.

Objectives

• Send TalonFX Data
• Send CANSparkMax Data
• Make simulated motor fields appear as CAN devices rather than SimDevices
• CAN Motor Brain Mappings
• CANEncoder support

Testing Done

• Test TalonFX in WS Viewer
• Test CANSparkMax in WS Viewer
• Make sure CAN Motor inputs map into the brain properly
• Test CANEncoders on SparkMaxes

For testing:

1. Build and publish SyntheSim with ./gradlew build and ./gradlew publishToMavenLocal.
2. Build and run the JavaSample with ./gradlew build and ./gradlew simulateJava.
3. Run fission
4. Open fission, spawn a robot, then click the WS Test button in the debug menu (this must be done first).
5. Verify the connection by opening the WS Viewer panel, you should see a long list of motors and encoders.
6. Click the RoboRio button to setup CAN output group, select all the CANSparkMax motors and all the WheelDrivers, then click Done
7. Do the same but for Encoders, this time, just select CANSparkMax[1] and any of the wheel stimuli.
8. In the robotSimulation screen, click Autonomous, you should see the robot drive forward 20 (feet?), then stop.

We need to have a discussion about how we want device mapping to work, right now every motor in a group's output is averaged and applied to each driver. We need to make it easier to do one to one mappings between motors and drivers, because right now, clicking through the whole menu ~10 times to make an output group for each motor is ridiculous.

Note

Pulled from #1077 for it's encoder framework, so I think just turning that PR into a gyro / joystick PR is the way to go.

Note

CANMotor inputs (eg. supplyCurrent) have been ignored, since they're not simulated in fission.

This PR is a combination of JIRA Issues 1747, 1748, and 1749 for a total of 18 story points.

[HunterBarclay]

I'm unable to build the sample project because it says it can't find CTRE or REV libraries:

I built and published SyntheSimJava successfully, however.

[BrandonPacewic]

I'm unable to build the sample project because it says it can't find CTRE or REV libraries

I built and published SyntheSimJava successfully, however.

@HunterBarclay Did you follow the following instructions from #1043?

1. Navigate to simulation/samples/JavaSample
2. Install WPILib utilities if you don't have them
3. Open the JavaSample project in WPILib VSCode
4. 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
5. Run ./gradlew build && ./gradlew simulateJava

[HunterBarclay]

@azaleacolburn Why aren't the vendor deps just already added?

[a-crowell]

This is so cool! And motors are connecting great! Encoder isn't connecting for me though, so auto doesn't stop.

[a-crowell]

Super impressive! If I knew how to get a device from id, I'd let you know, but alas I am without that knowledge and the code is working great. So excited for code sim!

[BrandonPacewic]

Super awesome!