chooser) {
- mCurrentCommand = chooser.getSelected();
- SmartDashboard.putString("Current Auto", mCurrentCommand.getName());
- }
-
- /**
- * Gets the selected active command from the auto folders.
- * @return Selected Command
- * @see Command
- */
- public Command getSelected() {
- return mCurrentCommand;
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/Constants.java b/2025-Robot-Code/src/main/java/frc/robot/Constants.java
deleted file mode 100644
index de8265d..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/Constants.java
+++ /dev/null
@@ -1,154 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import java.util.HashMap;
-import java.util.List;
-
-import com.ctre.phoenix6.CANBus;
-import com.pathplanner.lib.path.PathConstraints;
-
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.util.Units;
-
-
-/**
- * The Constants class provides a convenient place for teams to hold robot-wide
- * numerical or boolean
- * constants. This class should not be used for any other purpose. All constants
- * should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
- *
- *
- * It is advised to statically import this class (or one of its inner classes)
- * wherever the
- * constants are needed, to reduce verbosity.
- */
-public final class Constants {
- public static class OperatorConstants {
- public static final int kDriverControllerPort = 0;
- public static final int kOperatorControllerPort = 1;
- public static final double kCoralRumbleStrength = 0.5;
- public static final double kBargeRumbleStrength = 0.9;
- public static final double kJoystickDeadband = 0.1;
- }
-
- public static class ElevatorConstants {
- // Motor ports
- public static final int kMotorAPort = 13;
- public static final int kMotorBPort = 14;
- // Height setpoints
- public static final double kStowedHeight = 0;
- public static final double kL1Height = 0.9;
- public static final double kL2Height = 1.67;
- public static final double kL3Height = 2.82;
- public static final double kL4Height = 4.67;
- public static final double kLowAlgaeHeight = 0.35;
- public static final double kHighAlgaeHeight = 1.625;
- // Configuration details
- public static final CANBus kMotorBus = new CANBus("canivore0");
- public static final double kSensorToMechanismRatio = 9.0;
- public static final double kMaxSpeed = 11;
- public static final double kMaxAcceleration = 20.0;
- public static final double kMaxJerk = 100.0;
- public static final double kPositionTolerance = 0.3;
- // PID constants
- public static final double kG = 0.64;
- public static final double kS = 0.25;
- public static final double kV = 1.58;
- public static final double kA = 0.07;
- public static final double kP = 60.0;
- public static final double kI = 0.0;
- public static final double kD = 0.5;
- // Current limits
- public static final double kStatorCurrentLimit = 70;
- public static final double kSupplyCurrentLimit = 120;
- }
-
- public static class DriveConstants {
- // Distance between centers of right and left wheels on robot
- public static final double kTrackWidthMeters = Units.inchesToMeters(23.72921);
- // Distance between front and back wheels on robot
- public static final double kWheelBaseMeters = Units.inchesToMeters(23.72921);
-
- public static final PathConstraints kScoringConstraints = new PathConstraints(3.0, 3.0, 2 * Math.PI, 4 * Math.PI);
-
- public static final PathConstraints kMobilityConstraints = new PathConstraints(3.0, 3.0, 2 * Math.PI, 4 * Math.PI);
-
- public static final double kL1Speed = 1.5;
- }
-
- public static class AutoConstants {
- public static final double kTranslationP = 3;
- public static final double kTranslationI = 0;
- public static final double kTranslationD = 0;
-
- public static final double kRotationP = 5.5;
- public static final double kRotationI = 0;
- public static final double kRotationD = 0;
-
- /** Map of folder names to lists of auto command names */
- public static final HashMap> kAutoFolders = new HashMap<>() {{
- put("Test Autos", List.of(
- "Test Auto",
- "Test Auto 2",
- "Test Auto 3"
- ));
-
- put("Basic Autos", List.of(
- "Do Nothing",
- "1"
- ));
- }};
- }
-
- public static class VisionConstants {
- public static String kCamera1Name = "Left";
- public static String kCamera2Name = "Right";
-
- public static final Transform3d kRobotToCam1 =
- new Transform3d(
- new Translation3d(Units.inchesToMeters(11.58), Units.inchesToMeters(11.189), Units.inchesToMeters(8.25)),
- new Rotation3d(0, Units.degreesToRadians(-15.0), Units.degreesToRadians(-20.0)));
-
- public static final Transform3d kRobotToCam2 =
- new Transform3d(
- new Translation3d(Units.inchesToMeters(11.58), Units.inchesToMeters(-11.189), Units.inchesToMeters(8.25)),
- new Rotation3d(0, Units.degreesToRadians(-15.0), Units.degreesToRadians(15.0)));
- }
-
- public static class AlgaeConstants {
- public static final int kAlgaeMotorPort = 21;
- public static final double kAlgaeMotorSpeed = 1.0;
- public static final double kAlgaeExtendedRotation = 0.25;
- public static final double kAlgaeStowedRotation = 0;
- public static final double kSensorToMechanismRatio = 25.0;
- }
-
- public static class EndEffectorConstants {
- public static final int kMotorPort = 20;
- public static final int kEntranceBreakerPort = 1;
- public static final int kExitBreakerPort = 0;
-
- public static final double kFastEjectSpeed = 0.9;
- public static final double kAutoEjectSpeed = 1;
- public static final double kDefaultEjectSpeed = 0.2;
- public static final double kL1EjectSpeed = 0.3;
- public static final double kAlgaeBargeSpeed = 1.0;
- public static final double kAlgaeProcessorSpeed = 0.3;
-
- public static final double kIdleSpeed = 0.225;
- public static final double kIntakeSpeed = 0.125;
- public static final double kDriveBackSpeed = 0.08;
-
- public static final double kSensorToMechanismRatio = 25.0;
- }
-
- public static class ClimberConstants {
- public static final double kHopperFallAngle = 120.0;
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/FieldConstants.java b/2025-Robot-Code/src/main/java/frc/robot/FieldConstants.java
deleted file mode 100644
index 2dbffde..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/FieldConstants.java
+++ /dev/null
@@ -1,222 +0,0 @@
-// Copyright (c) 2025 FRC 6328
-// http://github.com/Mechanical-Advantage
-//
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file at
-// the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.math.geometry.*;
-import edu.wpi.first.math.util.Units;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-/**
- * Contains various field dimensions and useful reference points. All units are
- * in meters and poses
- * have a blue alliance origin.
- */
-public class FieldConstants {
- public static final double fieldLength = Units.inchesToMeters(690.876);
- public static final double fieldWidth = Units.inchesToMeters(317);
- public static final Translation2d fieldCenter = new Translation2d(fieldLength / 2, fieldWidth / 2);
- public static final double startingLineX = Units.inchesToMeters(299.438); // Measured from the inside of starting
- // line
-
- public static class Processor {
- public static final Pose2d centerFace = new Pose2d(Units.inchesToMeters(235.726), 0,
- Rotation2d.fromDegrees(90));
- }
-
- public static class Barge {
- public static final Translation2d farCage = new Translation2d(Units.inchesToMeters(345.428),
- Units.inchesToMeters(286.779));
- public static final Translation2d middleCage = new Translation2d(Units.inchesToMeters(345.428),
- Units.inchesToMeters(242.855));
- public static final Translation2d closeCage = new Translation2d(Units.inchesToMeters(345.428),
- Units.inchesToMeters(199.947));
-
- // Measured from floor to bottom of cage
- public static final double deepHeight = Units.inchesToMeters(3.125);
- public static final double shallowHeight = Units.inchesToMeters(30.125);
- }
-
- public static class CoralStation {
- public static final Pose2d leftCenterFace = new Pose2d(
- Units.inchesToMeters(33.526),
- Units.inchesToMeters(291.176),
- Rotation2d.fromDegrees(90 - 144.011));
- public static final Pose2d rightCenterFace = new Pose2d(
- Units.inchesToMeters(33.526),
- Units.inchesToMeters(25.824),
- Rotation2d.fromDegrees(144.011 - 90));
- }
-
- public static class Reef {
- public static final Translation2d centerOfReef = new Translation2d(Units.inchesToMeters(176.746),
- Units.inchesToMeters(158.501));
- public static final double faceToZoneLine = Units.inchesToMeters(12); // Side of the reef to the inside of the
- // reef zone line
-
- public static final Pose2d[] centerFaces = new Pose2d[12]; // Starting facing the driver station in clockwise
- // order
- public static final List> branchPositions = new ArrayList<>(); // Starting at the right
- // branch facing the
- // driver station in
- // clockwise order
-
- static {
- // Initialize faces
- centerFaces[0] = new Pose2d(
- Units.inchesToMeters(144.003),
- Units.inchesToMeters(158.500),
- Rotation2d.fromDegrees(180));
- centerFaces[1] = new Pose2d(
- Units.inchesToMeters(160.373),
- Units.inchesToMeters(186.857),
- Rotation2d.fromDegrees(120));
- centerFaces[2] = new Pose2d(
- Units.inchesToMeters(193.116),
- Units.inchesToMeters(186.858),
- Rotation2d.fromDegrees(60));
- centerFaces[3] = new Pose2d(
- Units.inchesToMeters(209.489),
- Units.inchesToMeters(158.502),
- Rotation2d.fromDegrees(0));
- centerFaces[4] = new Pose2d(
- Units.inchesToMeters(193.118),
- Units.inchesToMeters(130.145),
- Rotation2d.fromDegrees(-60));
- centerFaces[5] = new Pose2d(
- Units.inchesToMeters(160.375),
- Units.inchesToMeters(130.144),
- Rotation2d.fromDegrees(-120));
-
- centerFaces[6] = centerFaces[0].rotateAround(fieldCenter, Rotation2d.k180deg);
- centerFaces[7] = centerFaces[1].rotateAround(fieldCenter, Rotation2d.k180deg);
- centerFaces[8] = centerFaces[2].rotateAround(fieldCenter, Rotation2d.k180deg);
- centerFaces[9] = centerFaces[3].rotateAround(fieldCenter, Rotation2d.k180deg);
- centerFaces[10] = centerFaces[4].rotateAround(fieldCenter, Rotation2d.k180deg);
- centerFaces[11] = centerFaces[5].rotateAround(fieldCenter, Rotation2d.k180deg);
-
- // Initialize branch positions
- for (int face = 0; face < centerFaces.length; face++) {
- Map fillRight = new HashMap<>();
- Map fillLeft = new HashMap<>();
- for (var level : ReefHeight.values()) {
- Pose2d poseDirection = new Pose2d();
- if (face < 6) {
- poseDirection = new Pose2d(centerOfReef, centerFaces[face].getRotation());
- } else {
- poseDirection = new Pose2d(centerOfReef.rotateAround(fieldCenter, Rotation2d.k180deg),
- centerFaces[face].getRotation());
- }
-
- double adjustX = Units.inchesToMeters(30.738); // Depth of branch from reef face
- double adjustY = Units.inchesToMeters(6.469); // Offset from reef face
- // centerline to branch
-
- fillRight.put(
- level,
- new Pose3d(
- new Translation3d(
- poseDirection
- .transformBy(
- new Transform2d(adjustX, adjustY, new Rotation2d()))
- .getX(),
- poseDirection
- .transformBy(
- new Transform2d(adjustX, adjustY, new Rotation2d()))
- .getY(),
- level.height),
- new Rotation3d(
- 0,
- Units.degreesToRadians(level.pitch),
- poseDirection.getRotation().getRadians())));
- fillLeft.put(
- level,
- new Pose3d(
- new Translation3d(
- poseDirection
- .transformBy(
- new Transform2d(adjustX, -adjustY, new Rotation2d()))
- .getX(),
- poseDirection
- .transformBy(
- new Transform2d(adjustX, -adjustY, new Rotation2d()))
- .getY(),
- level.height),
- new Rotation3d(
- 0,
- Units.degreesToRadians(level.pitch),
- poseDirection.getRotation().getRadians())));
- }
- branchPositions.add(fillRight);
- branchPositions.add(fillLeft);
- }
-
- }
- }
-
- public static class StagingPositions {
- // Measured from the center of the ice cream
- public static final Pose2d leftIceCream = new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(230.5),
- new Rotation2d());
- public static final Pose2d middleIceCream = new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(158.5),
- new Rotation2d());
- public static final Pose2d rightIceCream = new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(86.5),
- new Rotation2d());
- }
-
- public enum ReefHeight {
- L4(Units.inchesToMeters(72), -90),
- L3(Units.inchesToMeters(47.625), -35),
- L2(Units.inchesToMeters(31.875), -35),
- L1(Units.inchesToMeters(18), 0);
-
- ReefHeight(double height, double pitch) {
- this.height = height;
- this.pitch = pitch; // in degrees
- }
-
- public final double height;
- public final double pitch;
- }
-
- public static Pose2d getNearestReefFace(Pose2d currentPose) {
- return currentPose.nearest(List.of(FieldConstants.Reef.centerFaces));
- }
-
- public enum ReefSide {
- LEFT,
- RIGHT
- }
-
- public static Pose2d getNearestReefBranch(Pose2d currentPose, ReefSide side) {
- return FieldConstants.Reef.branchPositions
- .get(List.of(FieldConstants.Reef.centerFaces).indexOf(getNearestReefFace(currentPose))
- * 2 + (side == ReefSide.LEFT ? 1 : 0))
- .get(FieldConstants.ReefHeight.L1).toPose2d();
- }
-
- public static Pose2d getNearestCoralStation(Pose2d currentPose) {
- if (currentPose.getTranslation().getX() > FieldConstants.fieldLength / 2) {
- if (currentPose.getTranslation().getY() > FieldConstants.fieldWidth / 2) {
- return FieldConstants.CoralStation.rightCenterFace
- .rotateAround(FieldConstants.fieldCenter, Rotation2d.k180deg);
- } else {
- return FieldConstants.CoralStation.leftCenterFace
- .rotateAround(FieldConstants.fieldCenter, Rotation2d.k180deg);
- }
- } else {
- if (currentPose.getTranslation().getY() > FieldConstants.fieldWidth / 2) {
- return FieldConstants.CoralStation.leftCenterFace;
- } else {
- return FieldConstants.CoralStation.rightCenterFace;
- }
- }
- }
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/java/frc/robot/Main.java b/2025-Robot-Code/src/main/java/frc/robot/Main.java
deleted file mode 100644
index fe215d7..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/Main.java
+++ /dev/null
@@ -1,15 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.wpilibj.RobotBase;
-
-public final class Main {
- private Main() {}
-
- public static void main(String... args) {
- RobotBase.startRobot(Robot::new);
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/Robot.java b/2025-Robot-Code/src/main/java/frc/robot/Robot.java
deleted file mode 100644
index 08ab2d4..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/Robot.java
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-
-public class Robot extends TimedRobot {
- private Command m_autonomousCommand;
-
- private final RobotContainer m_robotContainer;
-
- public Robot() {
- // Instantiate our RobotContainer. This will perform all our button bindings,
- // and put our
- // autonomous chooser on the dashboard.
-
- // DataLogManager.start("/logs/datalogs/"); // separate data and signal logs
-
- // // add drivestation logs (e.g. joystick data)
- // DriverStation.startDataLog(DataLogManager.getLog(), true);
- // // add signal logging for CTRE
- // SignalLogger.start();
- // SignalLogger.setPath("/logs/signallogs/");
-
- m_robotContainer = new RobotContainer();
- }
-
- @Override
- public void robotPeriodic() {
- CommandScheduler.getInstance().run();
- m_robotContainer.periodic();
- }
-
- @Override
- public void disabledInit() {}
-
- @Override
- public void disabledPeriodic() {
- m_robotContainer.disabledPeriodic();
- }
-
- @Override
- public void disabledExit() {
- SmartDashboard.putString("Aligned X", "Unknown (not disabled)");
- SmartDashboard.putString("Aligned Y", "Unknown (not disabled)");
- SmartDashboard.putNumber("Aligned X (num)", -1);
- SmartDashboard.putNumber("Aligned Y (num)", -1);
- m_robotContainer.disabledExit();
- }
-
- @Override
- public void autonomousInit() {
- m_robotContainer.autoInit();
- m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
- if (m_autonomousCommand != null) {
- m_autonomousCommand.schedule();
- }
- }
-
- @Override
- public void autonomousPeriodic() {}
-
- @Override
- public void autonomousExit() {}
-
- @Override
- public void teleopInit() {
- if (m_autonomousCommand != null) {
- m_autonomousCommand.cancel();
- }
- m_robotContainer.teleInit();
- }
-
- @Override
- public void teleopPeriodic() {}
-
- @Override
- public void teleopExit() {
- m_robotContainer.teleExit();
- }
-
- @Override
- public void testInit() {
- CommandScheduler.getInstance().cancelAll();
- }
-
- @Override
- public void testPeriodic() {}
-
- @Override
- public void testExit() {}
-
- @Override
- public void simulationPeriodic() {}
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/RobotContainer.java b/2025-Robot-Code/src/main/java/frc/robot/RobotContainer.java
deleted file mode 100644
index c8c7663..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/RobotContainer.java
+++ /dev/null
@@ -1,310 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import static frc.robot.Constants.*;
-import static edu.wpi.first.units.Units.*;
-
-import frc.robot.FieldConstants.ReefSide;
-import frc.robot.commands.DriveCommands;
-import frc.robot.util.AllianceFlipUtil;
-import frc.robot.generated.TunerConstants;
-import frc.robot.subsystems.Elevator;
-import frc.robot.subsystems.EndEffector;
-import frc.robot.subsystems.Vision;
-import frc.robot.subsystems.AlgaeRemover;
-import frc.robot.subsystems.Climber;
-import frc.robot.subsystems.CommandSwerveDrivetrain;
-
-import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
-import com.ctre.phoenix6.swerve.SwerveRequest;
-
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.commands.PathfindingCommand;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.smartdashboard.Field2d;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.net.WebServer;
-
-import java.util.function.Supplier;
-import java.nio.file.Paths;
-import java.lang.Math;
-
-public class RobotContainer {
- private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top
- // speed
- private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per
- // second
- // max angular velocity
-
- /* Setting up bindings for necessary control of the swerve drive platform */
- private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
- .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
- .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive
- // motors
- private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
- private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
-
- private final Telemetry logger = new Telemetry(MaxSpeed);
-
- private final CommandXboxController driverController = new CommandXboxController(0);
- private final CommandXboxController operatorController = new CommandXboxController(1);
-
- private final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(driverController);
- private final EndEffector endEffector = new EndEffector(driverController);
- private final Vision vision = new Vision();
- private final Elevator elevator = new Elevator();
- private final AlgaeRemover algaeRemover = new AlgaeRemover();
- private final Climber climber = new Climber();
-
- private final Field2d field = new Field2d();
-
- private final SendableChooser autoChooser = new SendableChooser<>();
-
- private boolean mBargeMode = false;
- private final Trigger isBargeMode = new Trigger(() -> mBargeMode);
-
- public RobotContainer() {
- configureNamedCommands();
-
- configureBindings();
- WebServer.start(5801,
- Paths.get(Filesystem.getDeployDirectory().getAbsolutePath().toString(), "hud")
- .toString());
-
- SmartDashboard.putData(field);
-
- PathfindingCommand.warmupCommand().schedule();
-
- autoChooser.setDefaultOption("Own Cage 3.5pc", new PathPlannerAuto("Own Cage 3.5pc"));
- autoChooser.addOption("Middle 1pc + 3 Barge", new PathPlannerAuto("Middle 1pc + 3 Barge"));
- autoChooser.addOption("Opps Cage 3.5pc", new PathPlannerAuto("Opps Cage 3.5pc"));
- autoChooser.addOption("Tush Push", new PathPlannerAuto("Tush Push"));
-
- SmartDashboard.putData("Auto Chooser", autoChooser);
- SmartDashboard.putString("Aligned X", "Unknown (in initialization)");
- SmartDashboard.putString("Aligned Y", "Unknown (in initialization)");
- SmartDashboard.putBoolean("L1 Direction", true);
- SmartDashboard.putData("Align Auto", drivetrain.AlignAuto(autoChooser));
-
- DriverStation.silenceJoystickConnectionWarning(true);
- }
-
- public void periodic() {
- for (var pose : vision.getVisionResults()) {
- drivetrain.addVisionMeasurement(pose.getPose(), pose.getTime(),
- pose.getVisionMeasurementStdDevs());
- }
-
- field.setRobotPose(drivetrain.getState().Pose);
-
- SmartDashboard.putBoolean("In Algae Mode", mBargeMode);
- SmartDashboard.putNumber("Timer", DriverStation.getMatchTime());
- }
-
- private void configureBindings() {
- driverController.rightTrigger().and(isBargeMode.negate())
- .whileTrue(endEffector.scoreCoral(driverController.y()));
- driverController.rightTrigger().and(isBargeMode).and(elevator.kIsStowed.negate())
- .whileTrue(endEffector.scoreBarge().alongWith(algaeRemover.stowArm()));
- driverController.rightTrigger().and(isBargeMode).and(elevator.kIsStowed)
- .whileTrue(endEffector.scoreProcessor());
-
- // Note that X is defined as forward according to WPILib convention,
- // and Y is defined as to the left according to WPILib convention.
- drivetrain.setDefaultCommand(
- // Drivetrain will execute this command periodically
- drivetrain.applyRequest(() -> drive
- .withVelocityX(
- Math.copySign(Math.pow(
- MathUtil.applyDeadband(driverController
- .getLeftY(),
- OperatorConstants.kJoystickDeadband),
- 2),
- -driverController.getLeftY())
- * MaxSpeed) // Drive forward with
- // negative Y (forward)
- .withVelocityY(
- Math.copySign(Math.pow(
- MathUtil.applyDeadband(driverController
- .getLeftX(),
- OperatorConstants.kJoystickDeadband),
- 2),
- -driverController.getLeftX())
- * MaxSpeed) // Drive left with negative
- // X (left)
- .withRotationalRate(-driverController.getRightX() * MaxAngularRate) // Drive
- // counterclockwise
- // with
- // negative
- // X
- // (left)
- ));
-
- operatorController.a().whileTrue(climber.climb().alongWith(algaeRemover.dropArm()))
- .onFalse(climber.stopMotor());
- operatorController.y().whileTrue(climber.declimb()).onFalse(climber.stopMotor());
-
- driverController.a().and(isBargeMode.negate())
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kL1Height)
- .alongWith(Commands.waitSeconds(0.3)
- .andThen(endEffector.scoreL1())
- .alongWith(Commands.waitSeconds(0.1)
- .andThen(L1MoveCommand()))))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- driverController.x().and(isBargeMode.negate())
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kL2Height))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- driverController.b().and(isBargeMode.negate())
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kL3Height))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- driverController.y().and(isBargeMode.negate())
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kL4Height))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
-
- driverController.x().and(isBargeMode)
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kLowAlgaeHeight))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- driverController.b().and(isBargeMode)
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kHighAlgaeHeight))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- driverController.y().and(isBargeMode)
- .whileTrue(elevator.setElevatorTarget(ElevatorConstants.kL4Height)
- .alongWith(Commands.waitSeconds(0.7)
- .andThen(endEffector.scoreBarge()
- .alongWith(algaeRemover.stowArm()))))
- .onFalse(elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
-
- // TODO: these should only be enabled for testing/auto tuning.
- // Run SysId routines when holding back/start and X/Y.
- // Note that each routine should be run exactly once in a single log.
- // driverController.back().and(driverController.y())
- // .whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
- // driverController.back().and(driverController.x())
- // .whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
- // driverController.start().and(driverController.y())
- // .whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
- // driverController.start().and(driverController.x())
- // .whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
-
- // reset the field-centric heading on start button press
- driverController.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
-
- // Driver Right Bumper: Approach nearest right-side reef branch
- driverController.rightBumper().and(isBargeMode.negate()).whileTrue(joystickApproach(
- () -> FieldConstants.getNearestReefBranch(drivetrain.getState().Pose, ReefSide.RIGHT)));
-
- // Driver Left Bumper: approach nearest left-side reef branch
- driverController.leftBumper().and(isBargeMode.negate()).whileTrue(joystickApproach(
- () -> FieldConstants.getNearestReefBranch(drivetrain.getState().Pose, ReefSide.LEFT)));
-
- // Driver Left Bumper and Barge Mode: approach Algae on current reef face
- driverController.leftBumper().and(isBargeMode).whileTrue(joystickApproach(
- () -> FieldConstants.getNearestReefFace(drivetrain.getState().Pose)));
- driverController.rightBumper().and(isBargeMode).whileTrue(joystickApproach(
- () -> FieldConstants.getNearestReefFace(drivetrain.getState().Pose)));
-
- driverController.leftTrigger().onTrue(
- algaeRemover.deployArm().alongWith(Commands.runOnce(() -> mBargeMode = true),
- endEffector.algaeIntake()))
- .onFalse(Commands.runOnce(() -> mBargeMode = false));
-
- drivetrain.registerTelemetry(logger::telemeterize);
- }
-
- private void configureNamedCommands() {
- // create named commands for autos to use
- NamedCommands.registerCommand("elevatorl4", elevator.setElevatorTarget(ElevatorConstants.kL4Height));
- NamedCommands.registerCommand("elevatorl3", elevator.setElevatorTarget(ElevatorConstants.kL3Height));
-
- NamedCommands.registerCommand("startalgae", algaeRemover.deployArm()
- .alongWith(Commands.runOnce(() -> mBargeMode = true), endEffector.algaeIntake()));
-
- NamedCommands.registerCommand("endalgae", algaeRemover.stowArm(() -> false)
- .alongWith(Commands.runOnce(() -> mBargeMode = false)));
- NamedCommands.registerCommand("algael2", elevator.setElevatorTarget(ElevatorConstants.kLowAlgaeHeight));
- NamedCommands.registerCommand("algael3",
- elevator.setElevatorTarget(ElevatorConstants.kHighAlgaeHeight));
- NamedCommands.registerCommand("scorealgae", elevator.setElevatorTarget(ElevatorConstants.kL4Height)
- .alongWith(Commands.waitSeconds(0.7).andThen(endEffector.scoreBarge()
- .alongWith(algaeRemover.stowArm()))));
- NamedCommands.registerCommand("elevatorstow",
- elevator.setElevatorTarget(ElevatorConstants.kStowedHeight));
- NamedCommands.registerCommand("score", endEffector.autoScoreCoral());
- NamedCommands.registerCommand("score_safe", endEffector.scoreSafe(elevator::isAtHeight));
- NamedCommands.registerCommand("intake", endEffector.autoIntake());
- NamedCommands.registerCommand("intake_fast", endEffector.autoIntakeFast());
- }
-
- public Command getAutonomousCommand() {
- return autoChooser.getSelected();
- }
-
- public void autoInit() {
- endEffector.enableInit();
- }
-
- public void teleInit() {
- // ensure that barge mode doesn't carry through from a previous enable
- mBargeMode = false;
- // send the elevator to the stow position so AJ doesn't lose time manually
- // sending it down
- elevator.setElevatorTarget(ElevatorConstants.kStowedHeight).schedule();
- // set default commands here to prevent issues in auto, as in auto we want to
- // manually schedule all commands & states
- endEffector.setDefaultCommand(endEffector.teleIntake());
- algaeRemover.setDefaultCommand(algaeRemover.stowArm(driverController.leftTrigger()));
- }
-
- public void teleExit() {
- // remove default commands after teleop to prevent accidental cancellations by
- // default commands
- endEffector.removeDefaultCommand();
- algaeRemover.removeDefaultCommand();
- }
-
- /**
- * Makes sure that when entering any mode other than disabled, we don't jog the
- * coral out of the end effector
- */
- public void disabledExit() {
- endEffector.enableInit();
- }
-
- /**
- * Code to run while the robot is disabled. This code is for alignment purposes
- * and some other currently unused functionality.
- *
- * TODO: make field alignment states actually useful
- */
- public void disabledPeriodic() {
- var xDiff = AllianceFlipUtil.apply(drivetrain.getState().Pose).getX() - 7.1;
- var yDiff = AllianceFlipUtil.apply(drivetrain.getState().Pose).getY() - 1.9;
-
- SmartDashboard.putString("Aligned X", xDiff < -0.01 ? "Out (to cages)"
- : (xDiff > 0.01 ? "Closer (away from cages)" : "Aligned"));
- SmartDashboard.putString("Aligned Y", yDiff < -0.01 ? "Left" : (yDiff > 0.01 ? "Right" : "Aligned"));
- SmartDashboard.putNumber("Aligned X (num)", xDiff);
- SmartDashboard.putNumber("Aligned Y (num)", yDiff);
- }
-
- private Command joystickApproach(Supplier approachPose) {
- return DriveCommands.joystickApproach(drivetrain, () -> driverController.getLeftY(), approachPose);
- }
-
- private Command L1MoveCommand() {
- return drivetrain.L1Move(() -> SmartDashboard.getBoolean("L1 Direction", false));
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/Telemetry.java b/2025-Robot-Code/src/main/java/frc/robot/Telemetry.java
deleted file mode 100644
index edf1979..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/Telemetry.java
+++ /dev/null
@@ -1,124 +0,0 @@
-package frc.robot;
-
-import com.ctre.phoenix6.SignalLogger;
-import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.networktables.DoubleArrayPublisher;
-import edu.wpi.first.networktables.DoublePublisher;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.StringPublisher;
-import edu.wpi.first.networktables.StructArrayPublisher;
-import edu.wpi.first.networktables.StructPublisher;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.util.Color;
-import edu.wpi.first.wpilibj.util.Color8Bit;
-
-public class Telemetry {
- private final double MaxSpeed;
-
- /**
- * Construct a telemetry object, with the specified max speed of the robot
- *
- * @param maxSpeed Maximum speed in meters per second
- */
- public Telemetry(double maxSpeed) {
- MaxSpeed = maxSpeed;
- SignalLogger.start();
- }
-
- /* What to publish over networktables for telemetry */
- private final NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
- /* Robot swerve drive state */
- private final NetworkTable driveStateTable = inst.getTable("DriveState");
- private final StructPublisher drivePose = driveStateTable.getStructTopic("Pose", Pose2d.struct).publish();
- private final StructPublisher driveSpeeds = driveStateTable.getStructTopic("Speeds", ChassisSpeeds.struct).publish();
- private final StructArrayPublisher driveModuleStates = driveStateTable.getStructArrayTopic("ModuleStates", SwerveModuleState.struct).publish();
- private final StructArrayPublisher driveModuleTargets = driveStateTable.getStructArrayTopic("ModuleTargets", SwerveModuleState.struct).publish();
- private final StructArrayPublisher driveModulePositions = driveStateTable.getStructArrayTopic("ModulePositions", SwerveModulePosition.struct).publish();
- private final DoublePublisher driveTimestamp = driveStateTable.getDoubleTopic("Timestamp").publish();
- private final DoublePublisher driveOdometryFrequency = driveStateTable.getDoubleTopic("OdometryFrequency").publish();
-
- /* Robot pose for field positioning */
- private final NetworkTable table = inst.getTable("Pose");
- private final DoubleArrayPublisher fieldPub = table.getDoubleArrayTopic("robotPose").publish();
- private final StringPublisher fieldTypePub = table.getStringTopic(".type").publish();
-
- /* Mechanisms to represent the swerve module states */
- private final Mechanism2d[] m_moduleMechanisms = new Mechanism2d[] {
- new Mechanism2d(1, 1),
- new Mechanism2d(1, 1),
- new Mechanism2d(1, 1),
- new Mechanism2d(1, 1),
- };
- /* A direction and length changing ligament for speed representation */
- private final MechanismLigament2d[] m_moduleSpeeds = new MechanismLigament2d[] {
- m_moduleMechanisms[0].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
- m_moduleMechanisms[1].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
- m_moduleMechanisms[2].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
- m_moduleMechanisms[3].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
- };
- /* A direction changing and length constant ligament for module direction */
- private final MechanismLigament2d[] m_moduleDirections = new MechanismLigament2d[] {
- m_moduleMechanisms[0].getRoot("RootDirection", 0.5, 0.5)
- .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
- m_moduleMechanisms[1].getRoot("RootDirection", 0.5, 0.5)
- .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
- m_moduleMechanisms[2].getRoot("RootDirection", 0.5, 0.5)
- .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
- m_moduleMechanisms[3].getRoot("RootDirection", 0.5, 0.5)
- .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
- };
-
- private final double[] m_poseArray = new double[3];
- private final double[] m_moduleStatesArray = new double[8];
- private final double[] m_moduleTargetsArray = new double[8];
-
- /** Accept the swerve drive state and telemeterize it to SmartDashboard and SignalLogger. */
- public void telemeterize(SwerveDriveState state) {
- /* Telemeterize the swerve drive state */
- drivePose.set(state.Pose);
- driveSpeeds.set(state.Speeds);
- driveModuleStates.set(state.ModuleStates);
- driveModuleTargets.set(state.ModuleTargets);
- driveModulePositions.set(state.ModulePositions);
- driveTimestamp.set(state.Timestamp);
- driveOdometryFrequency.set(1.0 / state.OdometryPeriod);
-
- /* Also write to log file */
- m_poseArray[0] = state.Pose.getX();
- m_poseArray[1] = state.Pose.getY();
- m_poseArray[2] = state.Pose.getRotation().getDegrees();
- for (int i = 0; i < 4; ++i) {
- m_moduleStatesArray[i*2 + 0] = state.ModuleStates[i].angle.getRadians();
- m_moduleStatesArray[i*2 + 1] = state.ModuleStates[i].speedMetersPerSecond;
- m_moduleTargetsArray[i*2 + 0] = state.ModuleTargets[i].angle.getRadians();
- m_moduleTargetsArray[i*2 + 1] = state.ModuleTargets[i].speedMetersPerSecond;
- }
-
- SignalLogger.writeDoubleArray("DriveState/Pose", m_poseArray);
- SignalLogger.writeDoubleArray("DriveState/ModuleStates", m_moduleStatesArray);
- SignalLogger.writeDoubleArray("DriveState/ModuleTargets", m_moduleTargetsArray);
- SignalLogger.writeDouble("DriveState/OdometryPeriod", state.OdometryPeriod, "seconds");
-
- /* Telemeterize the pose to a Field2d */
- fieldTypePub.set("Field2d");
- fieldPub.set(m_poseArray);
-
- /* Telemeterize the module states to a Mechanism2d */
- for (int i = 0; i < 4; ++i) {
- m_moduleSpeeds[i].setAngle(state.ModuleStates[i].angle);
- m_moduleDirections[i].setAngle(state.ModuleStates[i].angle);
- m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed));
-
- SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]);
- }
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/VisionHelper.java b/2025-Robot-Code/src/main/java/frc/robot/VisionHelper.java
deleted file mode 100644
index f41de82..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/VisionHelper.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package frc.robot;
-
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
-
-public class VisionHelper {
- private Pose2d pose;
- private double time;
- private Matrix visionMeasurementStdDevs;
-
- public VisionHelper(Pose2d pose, double time, Matrix visionMeasurementStdDevs) {
- this.pose = pose;
- this.time = time;
- this.visionMeasurementStdDevs = visionMeasurementStdDevs;
- }
-
- public Pose2d getPose() {
- return pose;
- }
-
- public double getTime() {
- return time;
- }
-
- public Matrix getVisionMeasurementStdDevs() {
- return visionMeasurementStdDevs;
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/commands/Autos.java b/2025-Robot-Code/src/main/java/frc/robot/commands/Autos.java
deleted file mode 100644
index 0c89685..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/commands/Autos.java
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-// import frc.robot.subsystems.ExampleSubsystem;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-
-public final class Autos {
- /** Example static factory for an autonomous command. */
- // public static Command exampleAuto(ExampleSubsystem subsystem) {
- // return Commands.sequence(subsystem.exampleMethodCommand(), new
- // ExampleCommand(subsystem));
- // }
-
- private Autos() {
- throw new UnsupportedOperationException("This is a utility class!");
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/commands/DriveCommands.java b/2025-Robot-Code/src/main/java/frc/robot/commands/DriveCommands.java
deleted file mode 100644
index 7a27477..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/commands/DriveCommands.java
+++ /dev/null
@@ -1,139 +0,0 @@
-package frc.robot.commands;
-
-import static edu.wpi.first.units.Units.MetersPerSecond;
-
-import java.util.function.BooleanSupplier;
-import java.util.function.DoubleSupplier;
-import java.util.function.Supplier;
-
-import com.ctre.phoenix6.swerve.SwerveRequest;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.ProfiledPIDController;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.generated.TunerConstants;
-import frc.robot.subsystems.CommandSwerveDrivetrain;
-
-public class DriveCommands {
- private static final double DEADBAND = 0.05;
- private static final double ANGLE_KP = 2;
- private static final double ANGLE_KD = 0;
- private static final double ANGLE_MAX_VELOCITY = 8.0;
- private static final double ANGLE_MAX_ACCELERATION = 20.0;
- private static final double kAngleTolerance = Units.degreesToRadians(5);
- private static final double kLineTolerance = 0.05;
-
- public static final double DRIVE_BASE_RADIUS = Math.max(
- Math.max(
- Math.hypot(TunerConstants.FrontLeft.LocationX, TunerConstants.FrontLeft.LocationY),
- Math.hypot(TunerConstants.FrontRight.LocationX, TunerConstants.FrontRight.LocationY)),
- Math.max(
- Math.hypot(TunerConstants.BackLeft.LocationX, TunerConstants.BackLeft.LocationY),
- Math.hypot(TunerConstants.BackRight.LocationX, TunerConstants.BackRight.LocationY)));
-
- private static double getMaxLinearSpeedMetersPerSecond() {
- return TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
- }
-
- /**
- * Gets a linear velocity as input from the driver joystick, treating the X and
- * Y component as legs of a right triangle,
- * and calculates the hypotenuse
- *
- * @param x - the X component of the magnitude
- * @param y - the Y component of the magnitude
- * @return
- *
- */
- private static Translation2d getLinearVelocityFromJoystick(double x, double y) {
- // Apply a deadband to the joystick inputs
- double magnitude = Math.hypot(x, y);
- Rotation2d linearDirection = new Rotation2d(Math.atan2(x, y));
-
- // Squared inputs
- magnitude = magnitude * magnitude;
-
- return new Pose2d(new Translation2d(), linearDirection)
- .transformBy(new Transform2d(magnitude, 0.0, new Rotation2d())).getTranslation();
- }
-
- /***
- * Robot relative drive command that uses the joystick for linear control
- * towards a pose.
- * This uses a PID for aligning with the target laterally, and PID for angular
- * control. Used for approaching
- * a known pose, from a short distance away.
- *
- * @param drive the command-based drivetrain to control
- * @param ySupplier supplier for moving forward/backward relative to the
- * position being approached
- * @param approachSupplier A supplier of a Pose2d facing AWAY from the target
- * drivetrain that the drivetrain will approach
- * @return The command to run
- */
- public static Command joystickApproach(CommandSwerveDrivetrain drive, DoubleSupplier ySupplier,
- Supplier approachSupplier) {
- ProfiledPIDController angleController = new ProfiledPIDController(ANGLE_KP, 0.0, ANGLE_KD,
- new TrapezoidProfile.Constraints(ANGLE_MAX_VELOCITY, ANGLE_MAX_ACCELERATION));
- angleController.setTolerance(kAngleTolerance);
- angleController.enableContinuousInput(-Math.PI, Math.PI);
- ProfiledPIDController alignController = new ProfiledPIDController(1.0, 0.0, 0.0,
- new TrapezoidProfile.Constraints(ANGLE_MAX_VELOCITY, ANGLE_MAX_ACCELERATION));
- alignController.setTolerance(kLineTolerance);
- alignController.setGoal(0);
-
- return Commands.run(
- () -> { // Command
- Translation2d currentTranslation = drive.getState().Pose.getTranslation();
- Translation2d approachTranslation = approachSupplier.get().getTranslation();
- double distanceToApproach = currentTranslation.getDistance(approachTranslation);
-
- Rotation2d alignmentDirection = approachSupplier.get().getRotation();
-
- // Find lateral distance to Goal Pose
- Translation2d goalTranslation = new Translation2d(
- alignmentDirection.getCos() * distanceToApproach + approachTranslation.getX(),
- alignmentDirection.getSin() * distanceToApproach + approachTranslation.getY());
-
- Translation2d robotToGoal = currentTranslation.minus(goalTranslation);
- double distanceToGoal = Math.hypot(robotToGoal.getX(), robotToGoal.getY());
-
- // Calculate lateral linear velocity
- Translation2d offsetVector = new Translation2d(alignController.calculate(distanceToGoal), 0)
- .rotateBy(robotToGoal.getAngle());
-
- // Calculate total linear velocity
- Translation2d linearVelocity = getLinearVelocityFromJoystick(
- 0,
- ySupplier.getAsDouble()).rotateBy(approachSupplier.get().getRotation()).plus(offsetVector);
-
- double omega = angleController.calculate(drive.getState().Pose.getRotation().getRadians(),
- approachSupplier.get().getRotation().rotateBy(Rotation2d.k180deg).getRadians());
-
- ChassisSpeeds speeds = new ChassisSpeeds(
- linearVelocity.getX() * getMaxLinearSpeedMetersPerSecond(),
- linearVelocity.getY() * getMaxLinearSpeedMetersPerSecond(),
- omega);
- // Create a robot-centric swerve request to drive to the approach target, using
- // the calculated chassis speeds.
- SwerveRequest.ApplyFieldSpeeds request = new SwerveRequest.ApplyFieldSpeeds();
- drive.setControl(request.withSpeeds(speeds));
- },
- drive // Requirements
- ).beforeStarting(() -> angleController.reset(drive.getState().Pose.getRotation().getRadians()));
- }
-
- public static Command autoApproach(CommandSwerveDrivetrain drive, DoubleSupplier speed,
- Supplier approachSupplier) {
- return joystickApproach(drive, speed, approachSupplier).until(() -> drive.getState().Pose.getTranslation()
- .getDistance(approachSupplier.get().getTranslation()) <= 0.1);
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/commands/MobilityAuto.java b/2025-Robot-Code/src/main/java/frc/robot/commands/MobilityAuto.java
deleted file mode 100644
index ff64c50..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/commands/MobilityAuto.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package frc.robot.commands;
-
-import java.util.List;
-
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.path.GoalEndState;
-import com.pathplanner.lib.path.PathConstraints;
-import com.pathplanner.lib.path.PathPlannerPath;
-import com.pathplanner.lib.path.Waypoint;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import frc.robot.Constants.DriveConstants;
-import frc.robot.subsystems.CommandSwerveDrivetrain;
-
-public class MobilityAuto extends ParallelCommandGroup{
- CommandSwerveDrivetrain mDrivetrain;
-
- public MobilityAuto(CommandSwerveDrivetrain drivetrain){
- mDrivetrain = drivetrain;
-
- try{
- boolean isBlue = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Blue;
-
- List waypoints =
- PathPlannerPath.waypointsFromPoses(
- new Pose2d(
- mDrivetrain.getState().Pose.getX(),
- mDrivetrain.getState().Pose.getY(),
- isBlue?
- Rotation2d.fromDegrees(180):
- Rotation2d.fromDegrees(0)
- ),
- isBlue? new Pose2d(mDrivetrain.getState().Pose.getX() - 2.0, mDrivetrain.getState().Pose.getY(), Rotation2d.fromDegrees(180)):
- new Pose2d(mDrivetrain.getState().Pose.getX() + 2.0, mDrivetrain.getState().Pose.getY(), Rotation2d.fromDegrees(0))
- );
-
- PathConstraints constraints = DriveConstants.kMobilityConstraints;
-
- PathPlannerPath path = new PathPlannerPath(
- waypoints,
- constraints,
- null,
- new GoalEndState(0.0, isBlue? Rotation2d.fromDegrees(180) : Rotation2d.fromDegrees(0))
- );
- addCommands(AutoBuilder.followPath(path));
- }catch (Exception e) {
- DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
- addCommands(Commands.none());
- }
-
- addRequirements(mDrivetrain);
-
-
- }
-
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/generated/TunerConstants.java b/2025-Robot-Code/src/main/java/frc/robot/generated/TunerConstants.java
deleted file mode 100644
index 157aef6..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/generated/TunerConstants.java
+++ /dev/null
@@ -1,286 +0,0 @@
-package frc.robot.generated;
-
-import static edu.wpi.first.units.Units.*;
-
-import com.ctre.phoenix6.CANBus;
-import com.ctre.phoenix6.configs.*;
-import com.ctre.phoenix6.hardware.*;
-import com.ctre.phoenix6.signals.*;
-import com.ctre.phoenix6.swerve.*;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
-
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.units.measure.*;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.subsystems.CommandSwerveDrivetrain;
-
-// Generated by the Tuner X Swerve Project Generator
-// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
-public class TunerConstants {
- // Both sets of gains need to be tuned to your individual robot.
-
- // The steer motor uses any SwerveModule.SteerRequestType control request with the
- // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
- private static final Slot0Configs steerGains = new Slot0Configs()
- .withKP(100).withKI(0).withKD(0.5)
- .withKS(0.1).withKV(2.66).withKA(0)
- .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
- // When using closed-loop control, the drive motor uses the control
- // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
- private static final Slot0Configs driveGains = new Slot0Configs()
- .withKP(0.1).withKI(0).withKD(0)
- .withKS(0).withKV(0.124);
-
- // The closed-loop output type to use for the steer motors;
- // This affects the PID/FF gains for the steer motors
- private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
- // The closed-loop output type to use for the drive motors;
- // This affects the PID/FF gains for the drive motors
- private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
-
- // The type of motor used for the drive motor
- private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
- // The type of motor used for the drive motor
- private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
-
- // The remote sensor feedback type to use for the steer motors;
- // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
- private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
-
- // The stator current at which the wheels start to slip;
- // This needs to be tuned to your individual robot
- private static final Current kSlipCurrent = Amps.of(120.0);
-
- // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
- // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
- private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
- private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
- .withCurrentLimits(
- new CurrentLimitsConfigs()
- // Swerve azimuth does not require much torque output, so we can set a relatively low
- // stator current limit to help avoid brownouts without impacting performance.
- .withStatorCurrentLimit(Amps.of(60))
- .withStatorCurrentLimitEnable(true)
- );
- private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
- // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
- private static final Pigeon2Configuration pigeonConfigs = null;
-
- // CAN bus that the devices are located on;
- // All swerve devices must share the same CAN bus
- public static final CANBus kCANBus = new CANBus("canivore0", "./logs/example.hoot");
-
- // Theoretical free speed (m/s) at 12 V applied output;
- // This needs to be tuned to your individual robot
- public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.73);
-
- // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
- // This may need to be tuned to your individual robot
- private static final double kCoupleRatio = 3.5714285714285716;
-
- private static final double kDriveGearRatio = 6.746031746031747;
- private static final double kSteerGearRatio = 21.428571428571427;
- private static final Distance kWheelRadius = Inches.of(2);
-
- private static final boolean kInvertLeftSide = false;
- private static final boolean kInvertRightSide = true;
-
- private static final int kPigeonId = 0;
-
- // These are only used for simulation
- private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
- private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
- // Simulated voltage necessary to overcome friction
- private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
- private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
-
- public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
- .withCANBusName(kCANBus.getName())
- .withPigeon2Id(kPigeonId)
- .withPigeon2Configs(pigeonConfigs);
-
- private static final SwerveModuleConstantsFactory ConstantCreator =
- new SwerveModuleConstantsFactory()
- .withDriveMotorGearRatio(kDriveGearRatio)
- .withSteerMotorGearRatio(kSteerGearRatio)
- .withCouplingGearRatio(kCoupleRatio)
- .withWheelRadius(kWheelRadius)
- .withSteerMotorGains(steerGains)
- .withDriveMotorGains(driveGains)
- .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
- .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
- .withSlipCurrent(kSlipCurrent)
- .withSpeedAt12Volts(kSpeedAt12Volts)
- .withDriveMotorType(kDriveMotorType)
- .withSteerMotorType(kSteerMotorType)
- .withFeedbackSource(kSteerFeedbackType)
- .withDriveMotorInitialConfigs(driveInitialConfigs)
- .withSteerMotorInitialConfigs(steerInitialConfigs)
- .withEncoderInitialConfigs(encoderInitialConfigs)
- .withSteerInertia(kSteerInertia)
- .withDriveInertia(kDriveInertia)
- .withSteerFrictionVoltage(kSteerFrictionVoltage)
- .withDriveFrictionVoltage(kDriveFrictionVoltage);
-
-
- // Front Left
- private static final int kFrontLeftDriveMotorId = 0;
- private static final int kFrontLeftSteerMotorId = 1;
- private static final int kFrontLeftEncoderId = 0;
- private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.49609375);
- private static final boolean kFrontLeftSteerMotorInverted = true;
- private static final boolean kFrontLeftEncoderInverted = false;
-
- private static final Distance kFrontLeftXPos = Inches.of(11.8645);
- private static final Distance kFrontLeftYPos = Inches.of(11.8645);
-
- // Front Right
- private static final int kFrontRightDriveMotorId = 4;
- private static final int kFrontRightSteerMotorId = 5;
- private static final int kFrontRightEncoderId = 2;
- private static final Angle kFrontRightEncoderOffset = Rotations.of(0.26904296875);
- private static final boolean kFrontRightSteerMotorInverted = true;
- private static final boolean kFrontRightEncoderInverted = false;
-
- private static final Distance kFrontRightXPos = Inches.of(11.8645);
- private static final Distance kFrontRightYPos = Inches.of(-11.8645);
-
- // Back Left
- private static final int kBackLeftDriveMotorId = 2;
- private static final int kBackLeftSteerMotorId = 3;
- private static final int kBackLeftEncoderId = 1;
- private static final Angle kBackLeftEncoderOffset = Rotations.of(0.34912109375);
- private static final boolean kBackLeftSteerMotorInverted = true;
- private static final boolean kBackLeftEncoderInverted = false;
-
- private static final Distance kBackLeftXPos = Inches.of(-11.8645);
- private static final Distance kBackLeftYPos = Inches.of(11.8645);
-
- // Back Right
- private static final int kBackRightDriveMotorId = 6;
- private static final int kBackRightSteerMotorId = 7;
- private static final int kBackRightEncoderId = 4;
- private static final Angle kBackRightEncoderOffset = Rotations.of(0.38232421875);
- private static final boolean kBackRightSteerMotorInverted = true;
- private static final boolean kBackRightEncoderInverted = false;
-
- private static final Distance kBackRightXPos = Inches.of(-11.8645);
- private static final Distance kBackRightYPos = Inches.of(-11.8645);
-
-
- public static final SwerveModuleConstants FrontLeft =
- ConstantCreator.createModuleConstants(
- kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
- kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
- );
- public static final SwerveModuleConstants FrontRight =
- ConstantCreator.createModuleConstants(
- kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
- kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
- );
- public static final SwerveModuleConstants BackLeft =
- ConstantCreator.createModuleConstants(
- kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
- kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
- );
- public static final SwerveModuleConstants BackRight =
- ConstantCreator.createModuleConstants(
- kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
- kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
- );
-
- /**
- * Creates a CommandSwerveDrivetrain instance.
- * This should only be called once in your robot program,.
- */
- public static CommandSwerveDrivetrain createDrivetrain(CommandXboxController controller) {
- return new CommandSwerveDrivetrain(
- DrivetrainConstants, controller, FrontLeft, FrontRight, BackLeft, BackRight
- );
- }
-
-
- /**
- * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
- */
- public static class TunerSwerveDrivetrain extends SwerveDrivetrain {
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param modules Constants for each specific module
- */
- public TunerSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- SwerveModuleConstants... modules
- ) {
- super(
- TalonFX::new, TalonFX::new, CANcoder::new,
- drivetrainConstants, modules
- );
- }
-
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param odometryUpdateFrequency The frequency to run the odometry loop. If
- * unspecified or set to 0 Hz, this is 250 Hz on
- * CAN FD, and 100 Hz on CAN 2.0.
- * @param modules Constants for each specific module
- */
- public TunerSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- double odometryUpdateFrequency,
- SwerveModuleConstants... modules
- ) {
- super(
- TalonFX::new, TalonFX::new, CANcoder::new,
- drivetrainConstants, odometryUpdateFrequency, modules
- );
- }
-
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param odometryUpdateFrequency The frequency to run the odometry loop. If
- * unspecified or set to 0 Hz, this is 250 Hz on
- * CAN FD, and 100 Hz on CAN 2.0.
- * @param odometryStandardDeviation The standard deviation for odometry calculation
- * in the form [x, y, theta]áµ€, with units in meters
- * and radians
- * @param visionStandardDeviation The standard deviation for vision calculation
- * in the form [x, y, theta]áµ€, with units in meters
- * and radians
- * @param modules Constants for each specific module
- */
- public TunerSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- double odometryUpdateFrequency,
- Matrix odometryStandardDeviation,
- Matrix visionStandardDeviation,
- SwerveModuleConstants... modules
- ) {
- super(
- TalonFX::new, TalonFX::new, CANcoder::new,
- drivetrainConstants, odometryUpdateFrequency,
- odometryStandardDeviation, visionStandardDeviation, modules
- );
- }
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/AlgaeRemover.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/AlgaeRemover.java
deleted file mode 100644
index c6f70c4..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/AlgaeRemover.java
+++ /dev/null
@@ -1,83 +0,0 @@
-package frc.robot.subsystems;
-
-import java.util.function.BooleanSupplier;
-
-import com.ctre.phoenix6.StatusCode;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.Constants.AlgaeConstants;
-
-public class AlgaeRemover extends SubsystemBase {
- private final TalonFX mAlgaeMotor = new TalonFX(AlgaeConstants.kAlgaeMotorPort, "rio");
-
- public AlgaeRemover() {
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.Feedback.withSensorToMechanismRatio(25);
- config.CurrentLimits.withStatorCurrentLimit(10);
-
- StatusCode status = StatusCode.StatusCodeNotInitialized;
- for (int i = 0; i < 5; i++) {
- status = mAlgaeMotor.getConfigurator().apply(config);
- if (status.isOK())
- break;
- }
- if (!status.isOK())
- System.err.println("Failed to configure algae remover motor: " + status.toString());
-
- mAlgaeMotor.setPosition(0);
- mAlgaeMotor.setNeutralMode(NeutralModeValue.Brake);
- }
-
- public final Trigger hasDeployedTrigger = new Trigger(
- () -> MathUtil.isNear(.283, mAlgaeMotor.getPosition().getValueAsDouble(), .01)
- );
-
- public final Trigger hasStowedTrigger = new Trigger(
- () -> MathUtil.isNear(0.0, mAlgaeMotor.getPosition().getValueAsDouble(), .01)
- );
-
- public Command deployArm() {
- return Commands.sequence(
- runOnce(() -> mAlgaeMotor.set(.75)),
- Commands.race(
- Commands.waitUntil(hasDeployedTrigger),
- Commands.waitSeconds(.5)
- ),
- runOnce(() -> mAlgaeMotor.stopMotor())
- );
- }
-
- public Command stowArm() {
- return Commands.sequence(
- runOnce(() -> mAlgaeMotor.set(-.75)),
- Commands.race(
- Commands.waitUntil(hasStowedTrigger),
- Commands.waitSeconds(.5)
- ),
- runOnce(() -> mAlgaeMotor.stopMotor())
- );
- }
- public Command stowArm(BooleanSupplier currentlyDeployed) {
- return stowArm().unless(currentlyDeployed);
- }
- public Command dropArm() {
- return Commands.sequence(
- runOnce(() -> {
- removeDefaultCommand();
- mAlgaeMotor.setNeutralMode(NeutralModeValue.Coast);
- mAlgaeMotor.set(0.5);
- }),
- Commands.waitSeconds(1),
- runOnce(() -> {
- mAlgaeMotor.stopMotor();
- })
- );
- }
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Climber.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/Climber.java
deleted file mode 100644
index 4fc1d38..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Climber.java
+++ /dev/null
@@ -1,52 +0,0 @@
-package frc.robot.subsystems;
-
-import com.ctre.phoenix6.StatusCode;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-import edu.wpi.first.wpilibj.Servo;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Climber extends SubsystemBase {
- private final Servo mServo = new Servo(0);
- private final TalonFX mClimberMotor = new TalonFX(30, "canivore0");
-
- public Climber() {
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.MotorOutput.withNeutralMode(NeutralModeValue.Brake);
- StatusCode status = StatusCode.StatusCodeNotInitialized;
- config.CurrentLimits.withStatorCurrentLimit(40.00);
- config.withCurrentLimits(config.CurrentLimits);
-
- for (int i = 0; i < 5; i++) {
- status = mClimberMotor.getConfigurator().apply(config);
-
- if (status.isOK())
- break;
- }
-
- if (status.isError())
- System.err.println("Failed to configure elevator motors: " + status.toString());
- }
-
- public Command climb() {
- return runOnce(() -> {
- mClimberMotor.set(.75);
- });
- }
-
- public Command declimb() {
- return runOnce(() -> {
- mServo.setAngle(120);
- mClimberMotor.set(-0.75);
- });
- }
- public Command stopMotor() {
- return runOnce(() -> {
- mClimberMotor.stopMotor();
- mServo.setAngle(75);
- });
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
deleted file mode 100644
index f6f1888..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ /dev/null
@@ -1,383 +0,0 @@
-package frc.robot.subsystems;
-
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Volts;
-
-import java.util.Arrays;
-import java.util.List;
-import java.util.Optional;
-import java.util.function.BooleanSupplier;
-import java.util.function.Supplier;
-
-import com.ctre.phoenix6.SignalLogger;
-import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants;
-import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.config.PIDConstants;
-import com.pathplanner.lib.config.RobotConfig;
-import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-import com.pathplanner.lib.path.GoalEndState;
-import com.pathplanner.lib.path.PathConstraints;
-import com.pathplanner.lib.path.PathPlannerPath;
-import com.pathplanner.lib.path.Waypoint;
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.controller.ProfiledPIDController;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-import edu.wpi.first.wpilibj.Notifier;
-import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.Subsystem;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.robot.util.AllianceFlipUtil;
-import frc.robot.Constants.AutoConstants;
-import frc.robot.Constants.DriveConstants;
-import frc.robot.Constants.OperatorConstants;
-import frc.robot.FieldConstants;
-import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
-
-
-
-/**
- * Class that extends the Phoenix 6 SwerveDrivetrain class and implements
- * Subsystem so it can easily be used in command-based projects.
- */
-public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
- private static final double kSimLoopPeriod = 0.005; // 5 ms
- private final Timer mRumbleTimer = new Timer();
- private final CommandXboxController mControllerToRumble;
- private Notifier m_simNotifier = null;
- private double m_lastSimTime;
-
- /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
- private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
- /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
- private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
- /* Keep track if we've ever applied the operator perspective before or not */
- private boolean m_hasAppliedOperatorPerspective = false;
-
- /** Swerve request to apply during robot-centric path following */
- private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
-
- /** Pose2d representing the nearest pose */
- private Pose2d m_scoringPose;
-
- /* Swerve requests to apply during SysId characterization */
- private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
- private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
- private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
- /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
- private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
- new SysIdRoutine.Config(
- null, // Use default ramp rate (1 V/s)
- Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
- null, // Use default timeout (10 s)
- // Log state with SignalLogger class
- state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
- ),
- new SysIdRoutine.Mechanism(
- output -> setControl(m_translationCharacterization.withVolts(output)),
- null,
- this
- )
- );
-
- /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
- private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
- new SysIdRoutine.Config(
- null, // Use default ramp rate (1 V/s)
- Volts.of(7), // Use dynamic voltage of 7 V
- null, // Use default timeout (10 s)
- // Log state with SignalLogger class
- state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
- ),
- new SysIdRoutine.Mechanism(
- volts -> setControl(m_steerCharacterization.withVolts(volts)),
- null,
- this
- )
- );
-
- /*
- * SysId routine for characterizing rotation.
- * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
- * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
- */
- private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
- new SysIdRoutine.Config(
- /* This is in radians per second², but SysId only supports "volts per second" */
- Volts.of(Math.PI / 6).per(Second),
- /* This is in radians per second, but SysId only supports "volts" */
- Volts.of(Math.PI),
- null, // Use default timeout (10 s)
- // Log state with SignalLogger class
- state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
- ),
- new SysIdRoutine.Mechanism(
- output -> {
- /* output is actually radians per second, but SysId only supports "volts" */
- setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
- /* also log the requested output for SysId */
- SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
- },
- null,
- this
- )
- );
-
- /* The SysId routine to test */
- private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
-
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param modules Constants for each specific module
- */
- public CommandSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- CommandXboxController controller,
- SwerveModuleConstants... modules
- ) {
- super(drivetrainConstants, modules);
- mControllerToRumble = controller;
- if (Utils.isSimulation()) {
- startSimThread();
- }
- ConfigureAutoBuilder();
- }
-
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param odometryUpdateFrequency The frequency to run the odometry loop. If
- * unspecified or set to 0 Hz, this is 250 Hz on
- * CAN FD, and 100 Hz on CAN 2.0.
- * @param modules Constants for each specific module
- */
- public CommandSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- CommandXboxController controller,
- double odometryUpdateFrequency,
- SwerveModuleConstants... modules
- ) {
- super(drivetrainConstants, odometryUpdateFrequency, modules);
- mControllerToRumble = controller;
- if (Utils.isSimulation()) {
- startSimThread();
- }
- ConfigureAutoBuilder();
- }
-
- /**
- * Constructs a CTRE SwerveDrivetrain using the specified constants.
- *
- * This constructs the underlying hardware devices, so users should not construct
- * the devices themselves. If they need the devices, they can access them through
- * getters in the classes.
- *
- * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
- * @param odometryUpdateFrequency The frequency to run the odometry loop. If
- * unspecified or set to 0 Hz, this is 250 Hz on
- * CAN FD, and 100 Hz on CAN 2.0.
- * @param odometryStandardDeviation The standard deviation for odometry calculation
- * in the form [x, y, theta]áµ€, with units in meters
- * and radians
- * @param visionStandardDeviation The standard deviation for vision calculation
- * in the form [x, y, theta]áµ€, with units in meters
- * and radians
- * @param modules Constants for each specific module
- */
- public CommandSwerveDrivetrain(
- SwerveDrivetrainConstants drivetrainConstants,
- CommandXboxController controller,
- double odometryUpdateFrequency,
- Matrix odometryStandardDeviation,
- Matrix visionStandardDeviation,
- SwerveModuleConstants... modules
- ) {
- super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, modules);
- mControllerToRumble = controller;
- if (Utils.isSimulation()) {
- startSimThread();
- }
- ConfigureAutoBuilder();
- }
-
-private void ConfigureAutoBuilder(){
- try {
- var config = RobotConfig.fromGUISettings();
- AutoBuilder.configure(
- () -> getState().Pose, // Supplier of current pose
- this::resetPose, // Consumer for seeding pose against auto
- () -> getState().Speeds, // Supplier of current robot speeds
- // Consumer of ChassisSpeeds and feedforwards to drive the robot
- (speeds, feedforwards) -> setControl(
- m_pathApplyRobotSpeeds.withSpeeds(speeds)
- .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
- .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
- ),
- new PPHolonomicDriveController(
- // PID constants for translation
- new PIDConstants(AutoConstants.kTranslationP, AutoConstants.kTranslationI, AutoConstants.kTranslationD),
- // PID constants for rotation
- new PIDConstants(AutoConstants.kRotationP, AutoConstants.kRotationI, AutoConstants.kRotationD)
- ),
- config,
- // Assume the path needs to be flipped for Red vs Blue, this is normally the case
- () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
- this // Subsystem for requirements
- );
- } catch (Exception ex) {
- DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
- }
-}
-
- /**
- * Returns a command that applies the specified control request to this swerve drivetrain.
- *
- * @param request Function returning the request to apply
- * @return Command to run
- */
- public Command applyRequest(Supplier requestSupplier) {
- return run(() -> this.setControl(requestSupplier.get()));
- }
-
- /**
- * Runs the SysId Quasistatic test in the given direction for the routine
- * specified by {@link #m_sysIdRoutineToApply}.
- *
- * @param direction Direction of the SysId Quasistatic test
- * @return Command to run
- */
- public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
- return m_sysIdRoutineToApply.quasistatic(direction);
- }
-
- /**
- * Runs the SysId Dynamic test in the given direction for the routine
- * specified by {@link #m_sysIdRoutineToApply}.
- *
- * @param direction Direction of the SysId Dynamic test
- * @return Command to run
- */
- public Command sysIdDynamic(SysIdRoutine.Direction direction) {
- return m_sysIdRoutineToApply.dynamic(direction);
- }
-
- @Override
- public void periodic() {
- /*
- * Periodically try to apply the operator perspective.
- * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
- * This allows us to correct the perspective in case the robot code restarts mid-match.
- * Otherwise, only check and apply the operator perspective if the DS is disabled.
- * This ensures driving behavior doesn't change until an explicit disable event occurs during testing.
- */
- if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
- DriverStation.getAlliance().ifPresent(allianceColor -> {
- setOperatorPerspectiveForward(
- allianceColor == Alliance.Red
- ? kRedAlliancePerspectiveRotation
- : kBlueAlliancePerspectiveRotation
- );
- m_hasAppliedOperatorPerspective = true;
- });
- }
- }
-
- private void startSimThread() {
- m_lastSimTime = Utils.getCurrentTimeSeconds();
-
- /* Run simulation at a faster rate so PID gains behave more reasonably */
- m_simNotifier = new Notifier(() -> {
- final double currentTime = Utils.getCurrentTimeSeconds();
- double deltaTime = currentTime - m_lastSimTime;
- m_lastSimTime = currentTime;
-
- /* use the measured time delta, get battery voltage from WPILib */
- updateSimState(deltaTime, RobotController.getBatteryVoltage());
- });
- m_simNotifier.startPeriodic(kSimLoopPeriod);
- }
-
- /**
- * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
- * while still accounting for measurement noise.
- *
- * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
- * @param timestampSeconds The timestamp of the vision measurement in seconds.
- */
- @Override
- public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
- super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds));
- }
-
- /**
- * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
- * while still accounting for measurement noise.
- *
- * Note that the vision measurement standard deviations passed into this method
- * will continue to apply to future measurements until a subsequent call to
- * {@link #setVisionMeasurementStdDevs(Matrix)} or this method.
- *
- * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
- * @param timestampSeconds The timestamp of the vision measurement in seconds.
- * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
- * in the form [x, y, theta]áµ€, with units in meters and radians.
- */
- @Override
- public void addVisionMeasurement(
- Pose2d visionRobotPoseMeters,
- double timestampSeconds,
- Matrix visionMeasurementStdDevs
- ) {
- super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
- }
-
- public Command L1Move(BooleanSupplier isRight) {
- SwerveRequest.RobotCentric request = new SwerveRequest.RobotCentric();
- return run(() -> {
- setControl(request.withVelocityY(isRight.getAsBoolean()? -DriveConstants.kL1Speed: DriveConstants.kL1Speed));
- });
- }
-
- public Command AlignAuto(SendableChooser autoChooser) {
- List waypoints = PathPlannerPath.waypointsFromPoses(
- getState().Pose,
- autoChooser.getSelected().getStartingPose());
-
- PathConstraints constraints = new PathConstraints(1.0, 1.0, Math.PI, Math.PI);
-
- PathPlannerPath path = new PathPlannerPath(waypoints, constraints, null, new GoalEndState(0.0, getState().Pose.getRotation()));
- return AutoBuilder.followPath(path);
- }
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Elevator.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/Elevator.java
deleted file mode 100644
index 02e55fe..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Elevator.java
+++ /dev/null
@@ -1,80 +0,0 @@
-package frc.robot.subsystems;
-
-import static edu.wpi.first.units.Units.*;
-
-import frc.robot.Constants.ElevatorConstants;
-
-import com.ctre.phoenix6.StatusCode;
-import com.ctre.phoenix6.configs.MotionMagicConfigs;
-import com.ctre.phoenix6.configs.Slot0Configs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.Follower;
-import com.ctre.phoenix6.controls.MotionMagicVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-
-public class Elevator extends SubsystemBase {
-
- private final TalonFXConfiguration mConfig = new TalonFXConfiguration();
- private final TalonFX mElevatorMotorA = new TalonFX(ElevatorConstants.kMotorAPort,
- ElevatorConstants.kMotorBus);
- private final TalonFX mElevatorMotorB = new TalonFX(ElevatorConstants.kMotorBPort,
- ElevatorConstants.kMotorBus);
- private final MotionMagicVoltage mVoltage = new MotionMagicVoltage(0);
-
- private double mSetHeight = 0;
- public final Trigger kIsStowed = new Trigger(() -> MathUtil.isNear(0,
- mElevatorMotorA.getPosition().getValueAsDouble(), ElevatorConstants.kPositionTolerance));
-
- public Elevator() {
- mConfig.Feedback.SensorToMechanismRatio = ElevatorConstants.kSensorToMechanismRatio;
-
- mConfig.CurrentLimits.withStatorCurrentLimit(ElevatorConstants.kStatorCurrentLimit)
- .withSupplyCurrentLimit(ElevatorConstants.kSupplyCurrentLimit);
-
- MotionMagicConfigs mmcfg = mConfig.MotionMagic;
- mmcfg.withMotionMagicCruiseVelocity(RotationsPerSecond.of(ElevatorConstants.kMaxSpeed))
- .withMotionMagicAcceleration(RotationsPerSecondPerSecond.of(ElevatorConstants.kMaxAcceleration))
- .withMotionMagicJerk(RotationsPerSecondPerSecond.per(Second).of(ElevatorConstants.kMaxJerk));
-
- Slot0Configs slot0 = mConfig.Slot0;
- slot0.kS = ElevatorConstants.kS;
- slot0.kV = ElevatorConstants.kV;
- slot0.kA = ElevatorConstants.kA;
- slot0.kP = ElevatorConstants.kP;
- slot0.kI = ElevatorConstants.kI;
- slot0.kD = ElevatorConstants.kD;
- slot0.kG = ElevatorConstants.kG;
-
- StatusCode status = StatusCode.StatusCodeNotInitialized;
-
- for (int i = 0; i < 5; i++) {
- status = mElevatorMotorA.getConfigurator().apply(mConfig);
-
- if (status.isOK())
- break;
- }
-
- if (status.isError())
- System.err.println("Failed to configure elevator motors: " + status.toString());
-
- mElevatorMotorB.setControl(new Follower(mElevatorMotorA.getDeviceID(), true));
- mElevatorMotorA.setPosition(0);
- mElevatorMotorB.setPosition(0);
- }
-
- public Command setElevatorTarget(double height) {
- return run(() -> {
- mSetHeight = height;
- mElevatorMotorA.setControl(mVoltage.withPosition(height).withSlot(0));
- });
- }
-
- public boolean isAtHeight() {
- return MathUtil.isNear(mSetHeight, mElevatorMotorA.getPosition().getValueAsDouble(), ElevatorConstants.kPositionTolerance);
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/EndEffector.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/EndEffector.java
deleted file mode 100644
index 7b29e1d..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/EndEffector.java
+++ /dev/null
@@ -1,249 +0,0 @@
-package frc.robot.subsystems;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.Constants.EndEffectorConstants;
-import frc.robot.Constants.OperatorConstants;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-import static edu.wpi.first.units.Units.Amps;
-
-import java.util.function.BooleanSupplier;
-
-import com.ctre.phoenix6.StatusCode;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.TorqueCurrentFOC;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-
-public class EndEffector extends SubsystemBase {
- private final DigitalInput mEntranceLineBreaker = new DigitalInput(EndEffectorConstants.kEntranceBreakerPort);
- private final DigitalInput mExitLineBreaker = new DigitalInput(EndEffectorConstants.kExitBreakerPort);
- private final TalonFX mEffectorMotor = new TalonFX(EndEffectorConstants.kMotorPort, "rio");
- private final TorqueCurrentFOC mTorqueCurrent = new TorqueCurrentFOC(Amps.of(20));
-
- private final CommandXboxController mControllerToRumble;
- private final Timer mRumbleTimer = new Timer();
-
- private boolean mCoralInPosition = false;
- private boolean mHasCoral = false;
- private boolean mFirstTime = true;
-
- public EndEffector(CommandXboxController controller) {
- TalonFXConfiguration config = new TalonFXConfiguration();
- config.CurrentLimits.withSupplyCurrentLimit(70);
- config.CurrentLimits.withStatorCurrentLimit(120);
-
- StatusCode status = StatusCode.StatusCodeNotInitialized;
- for (int i = 0; i < 5; i++) {
- status = mEffectorMotor.getConfigurator().apply(config);
- if (status.isOK())
- break;
- }
- if (!status.isOK())
- System.err.println("Failed to configure algae remover motor: " + status.toString());
-
- mEffectorMotor.setNeutralMode(NeutralModeValue.Brake);
- mControllerToRumble = controller;
- }
-
- @Override
- public void periodic() {
- SmartDashboard.putBoolean("Entrance", entranceDetected());
- SmartDashboard.putBoolean("Exit", exitDetected());
-
- if (mCoralInPosition)
- mRumbleTimer.start();
- else {
- mRumbleTimer.stop();
- mRumbleTimer.reset();
- }
-
- mControllerToRumble.setRumble(RumbleType.kBothRumble,
- mCoralInPosition && !mRumbleTimer.hasElapsed(0.5) ? OperatorConstants.kCoralRumbleStrength : 0);
- }
-
- public Command algaeIntake() {
- return runOnce(() -> {
- mEffectorMotor.set(EndEffectorConstants.kIdleSpeed);
- mEffectorMotor.setControl(mTorqueCurrent);
- });
- }
-
- public Command teleIntake() {
- return runOnce(() -> {
- if (!entranceDetected() && !exitDetected()) {
- mEffectorMotor.set(EndEffectorConstants.kIdleSpeed);
- SmartDashboard.putString("End Effector Branch", "No Coral");
- mCoralInPosition = false;
- mHasCoral = false;
- mFirstTime = true;
- } else if (entranceDetected() && exitDetected()) {
- if (mFirstTime) {
- mEffectorMotor.set(EndEffectorConstants.kIntakeSpeed / 2);
- mCoralInPosition = false;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "First Time!");
- } else {
- mEffectorMotor.stopMotor();
- mCoralInPosition = true;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "In Position");
- }
- } else if (entranceDetected() && !exitDetected()) {
- mEffectorMotor.set(EndEffectorConstants.kIntakeSpeed);
- mCoralInPosition = false;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "Only At Entrance");
- } else if (!entranceDetected() && exitDetected()) {
- mEffectorMotor.set(-EndEffectorConstants.kDriveBackSpeed);
- mCoralInPosition = false;
- mHasCoral = true;
- mFirstTime = false;
- SmartDashboard.putString("End Effector Branch", "Only At Exit");
- } else {
- SmartDashboard.putString("End Effector Branch", "Invalid State");
- }
- }).andThen(Commands.waitSeconds(0.05));
- }
-
- public Command autoIntake() {
- return run(() -> {
- if (!entranceDetected() && !exitDetected()) {
- mEffectorMotor.set(EndEffectorConstants.kIdleSpeed);
- SmartDashboard.putString("End Effector Branch", "No Coral");
- mCoralInPosition = false;
- mHasCoral = false;
- mFirstTime = true;
- } else if (entranceDetected() && !exitDetected()) {
- mEffectorMotor.set(EndEffectorConstants.kIntakeSpeed);
- mCoralInPosition = false;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "suck && !vomit");
- } else if (entranceDetected() && exitDetected()) {
- if (mFirstTime) {
- mEffectorMotor.set(EndEffectorConstants.kIntakeSpeed / 2);
- mCoralInPosition = false;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "First Time!");
- } else {
- mEffectorMotor.stopMotor();
- mCoralInPosition = true;
- mHasCoral = true;
- SmartDashboard.putString("End Effector Branch", "In Position");
- }
- } else if (!entranceDetected() && exitDetected()) {
- mEffectorMotor.set(-EndEffectorConstants.kIntakeSpeed);
- mCoralInPosition = false;
- mHasCoral = true;
- mFirstTime = false;
- SmartDashboard.putString("End Effector Branch", "!suck && vomit");
- }
- }).finallyDo(() -> {
- mEffectorMotor.stopMotor();
- mCoralInPosition = false;
- mHasCoral = false;
- mFirstTime = true;
- });
- }
-
- // getter for mHasCoral
- public boolean hasCoral() {
- return mHasCoral;
- }
-
- // getter for mCoralInPosition
- public boolean coralInPosition() {
- return mCoralInPosition;
- }
-
- public boolean entranceDetected() {
- return !mEntranceLineBreaker.get();
- }
-
- public boolean exitDetected() {
- return !mExitLineBreaker.get();
- }
-
- public Command autoScoreCoral() {
- return runOnce(() -> {
- mHasCoral = false;
- mCoralInPosition = false;
- mFirstTime = true;
- mEffectorMotor.set(EndEffectorConstants.kFastEjectSpeed);
- });
- }
-
- public Command scoreCoral(BooleanSupplier ejectFast) {
- return run(() -> {
- mHasCoral = false;
- mCoralInPosition = false;
- mFirstTime = true;
- mEffectorMotor.set(ejectFast.getAsBoolean() ? EndEffectorConstants.kFastEjectSpeed
- : EndEffectorConstants.kDefaultEjectSpeed);
- });
- }
- public Command scoreL1() {
- return run(() -> {
- mHasCoral = false;
- mCoralInPosition = false;
- mFirstTime = true;
- mEffectorMotor.set(EndEffectorConstants.kL1EjectSpeed);
- });
- }
- public Command scoreBarge() {
- return run(() -> {
- mHasCoral = false;
- mCoralInPosition = false;
- mFirstTime = true;
- mEffectorMotor.set(-EndEffectorConstants.kAlgaeBargeSpeed);
- });
- }
-
- public Command scoreProcessor() {
- return run(() -> {
- mHasCoral = false;
- mCoralInPosition = false;
- mFirstTime = true;
- mEffectorMotor.set(-EndEffectorConstants.kAlgaeProcessorSpeed);
- });
- }
-
- public Command scoreSafe(BooleanSupplier elevatorIsAtHeight) {
- return Commands.sequence(
- Commands.waitUntil(elevatorIsAtHeight),
- Commands.waitSeconds(0.15),
- runOnce(() -> mEffectorMotor.set(EndEffectorConstants.kAutoEjectSpeed)),
- Commands.race(Commands.waitSeconds(0.2), Commands.waitUntil(mExitLineBreaker::get)),
- runOnce(() -> {
- mEffectorMotor.stopMotor();
- mHasCoral = entranceDetected() || exitDetected();
- mFirstTime = true;
- mCoralInPosition = false;
- }));
- }
-
- public void enableInit() {
- if (entranceDetected() && exitDetected()) {
- mFirstTime = false;
- mCoralInPosition = true;
- mHasCoral = true;
- } else {
- mHasCoral = entranceDetected() || exitDetected();
- mFirstTime = true;
- mCoralInPosition = false;
- }
- }
-
- public Command autoIntakeFast() {
- return Commands.race(Commands.waitSeconds(0.4), Commands.waitUntil(() -> exitDetected()), autoIntake());
- }
- public Command autoPostIntake(Command elevatorl3) {
- return autoIntake().alongWith(Commands.waitUntil(this::exitDetected).andThen(elevatorl3));
- }
-}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Vision.java b/2025-Robot-Code/src/main/java/frc/robot/subsystems/Vision.java
deleted file mode 100644
index 2b56a03..0000000
--- a/2025-Robot-Code/src/main/java/frc/robot/subsystems/Vision.java
+++ /dev/null
@@ -1,133 +0,0 @@
-package frc.robot.subsystems;
-
-import java.nio.file.Path;
-import java.util.ArrayList;
-import java.util.HashSet;
-import java.util.LinkedList;
-import java.util.List;
-import java.util.Set;
-
-import org.photonvision.PhotonCamera;
-
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.VisionHelper;
-import frc.robot.Constants.VisionConstants;
-
-public class Vision extends SubsystemBase {
- static AprilTagFieldLayout mFieldLayout;
- static boolean useCustomField = false;
- static final double linearStdDevBaseline = 0.02;
- static final double angularStdDevBaseline = 0.06;
-
- public static record PoseObservation(
- double timestamp, Pose3d pose, double ambiguity, int tagCount, double averageTagDistance) {
- }
-
- static {
- try {
- mFieldLayout = new AprilTagFieldLayout(
- Path.of(Filesystem.getDeployDirectory().getAbsolutePath() + "/weldedlayout.json"));
- useCustomField = true;
- } catch (Exception e) {
- // TODO: handle exception
- mFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
- }
- SmartDashboard.putBoolean("Field Config", useCustomField);
- }
- final PhotonCamera mCamera1 = new PhotonCamera(VisionConstants.kCamera1Name);
- final PhotonCamera mCamera2 = new PhotonCamera(VisionConstants.kCamera2Name);
-
- public ArrayList getVisionResults() {
- ArrayList outputs = new ArrayList<>();
- for (var observation : getObservations(mCamera1, VisionConstants.kRobotToCam1)) {
- double stdDevFactor = Math.pow(observation.averageTagDistance(), 2.0) / observation.tagCount();
- double linearStdDev = linearStdDevBaseline * stdDevFactor;
- double angularStdDev = angularStdDevBaseline * stdDevFactor;
- outputs.add(new VisionHelper(
- observation.pose.toPose2d(), observation.timestamp(),
- VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev)));
- }
- for (var observation : getObservations(mCamera2, VisionConstants.kRobotToCam2)) {
- double stdDevFactor = Math.pow(observation.averageTagDistance(), 2.0) / observation.tagCount();
- double linearStdDev = linearStdDevBaseline * stdDevFactor;
- double angularStdDev = angularStdDevBaseline * stdDevFactor;
- outputs.add(new VisionHelper(
- observation.pose.toPose2d(), observation.timestamp(),
- VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev)));
- }
- return outputs;
- }
-
- public List getObservations(PhotonCamera camera, Transform3d robotToCamera) {
- // Read new camera observations
- Set tagIds = new HashSet<>();
- List poseObservations = new LinkedList<>();
- for (var result : camera.getAllUnreadResults()) {
- // Add pose observation
- if (result.multitagResult.isPresent()) { // Multitag result
- var multitagResult = result.multitagResult.get();
-
- // Calculate robot pose
- Transform3d fieldToCamera = multitagResult.estimatedPose.best;
- Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
- Pose3d robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
-
- // Calculate average tag distance
- double totalTagDistance = 0.0;
- for (var target : result.targets) {
- totalTagDistance += target.bestCameraToTarget.getTranslation().getNorm();
- }
-
- // Add tag IDs
- tagIds.addAll(multitagResult.fiducialIDsUsed);
-
- // Add observation
- poseObservations.add(
- new PoseObservation(
- result.getTimestampSeconds(), // Timestamp
- robotPose, // 3D pose estimate
- multitagResult.estimatedPose.ambiguity, // Ambiguity
- multitagResult.fiducialIDsUsed.size(), // Tag count
- totalTagDistance / result.targets.size() // Average tag distance
- ));
-
- } else if (!result.targets.isEmpty()) { // Single tag result
- var target = result.targets.get(0);
-
- // Calculate robot pose
- var tagPose = mFieldLayout.getTagPose(target.fiducialId);
- if (tagPose.isPresent()) {
- Transform3d fieldToTarget = new Transform3d(tagPose.get().getTranslation(),
- tagPose.get().getRotation());
- Transform3d cameraToTarget = target.bestCameraToTarget;
- Transform3d fieldToCamera = fieldToTarget.plus(cameraToTarget.inverse());
- Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
- Pose3d robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
-
- // Add tag ID
- tagIds.add((short) target.fiducialId);
-
- // Add observation
- poseObservations.add(
- new PoseObservation(
- result.getTimestampSeconds(), // Timestamp
- robotPose, // 3D pose estimate
- target.poseAmbiguity, // Ambiguity
- 1, // Tag count
- cameraToTarget.getTranslation().getNorm() // Average tag distance
- ));
- }
- }
- }
-
- // Save pose observations to inputs object
- return poseObservations;
- }
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/tuner-project.json b/2025-Robot-Code/tuner-project.json
deleted file mode 100644
index be9cc60..0000000
--- a/2025-Robot-Code/tuner-project.json
+++ /dev/null
@@ -1 +0,0 @@
-{"Version":"1.0.0.0","LastState":11,"Modules":[{"ModuleName":"Front Left","ModuleId":0,"Encoder":{"Id":0,"Name":"Front Left","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":1,"Name":"FL Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":0,"Name":"FL Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.379638671875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":1,"ValidatedDriveId":0,"ValidatedEncoderId":0},{"ModuleName":"Front Right","ModuleId":1,"Encoder":{"Id":2,"Name":"Front Right","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":5,"Name":"FR Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":4,"Name":"FR Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.350830078125,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":5,"ValidatedDriveId":4,"ValidatedEncoderId":2},{"ModuleName":"Back Left","ModuleId":2,"Encoder":{"Id":1,"Name":"Back Left","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":3,"Name":"BL Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":2,"Name":"BL Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.26708984375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":3,"ValidatedDriveId":2,"ValidatedEncoderId":1},{"ModuleName":"Back Right","ModuleId":3,"Encoder":{"Id":3,"Name":"Back Right","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":7,"Name":"BR Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":6,"Name":"BR Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.498046875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":7,"ValidatedDriveId":6,"ValidatedEncoderId":3}],"SwerveOptions":{"kSpeedAt12Volts":9.462920591575315,"Gyro":{"Id":0,"Name":"Pigeon 2 vers. S (Device ID 0)","Model":"Pigeon 2 vers. S","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"IsValidGyroCANbus":true,"VerticalTrackSizeInches":23.729,"HorizontalTrackSizeInches":23.729,"WheelRadiusInches":4.0,"IsLeftSideInverted":false,"IsRightSideInverted":true,"SwerveModuleType":4,"SwerveModuleConfiguration":{"ModuleBrand":4,"DriveRatio":6.746031746031747,"SteerRatio":21.428571428571427,"CouplingRatio":3.5714285714285716,"CustomName":"L2"},"HasVerifiedSteer":true,"SelectedModuleManufacturer":"Swerve Drive Specialties (SDS)","HasVerifiedDrive":true,"IsValidConfiguration":true}}
\ No newline at end of file
diff --git a/2025-Robot-Code/tuner-swerve-project.json b/2025-Robot-Code/tuner-swerve-project.json
deleted file mode 100644
index 7282707..0000000
--- a/2025-Robot-Code/tuner-swerve-project.json
+++ /dev/null
@@ -1 +0,0 @@
-{"Version":"1.0.0.0","LastState":11,"Modules":[{"ModuleName":"Front Left","ModuleId":0,"Encoder":{"Id":0,"Name":"Front Left Pod","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":1,"Name":"FL Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":0,"Name":"FL Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.49609375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":1,"ValidatedDriveId":0,"ValidatedEncoderId":0},{"ModuleName":"Front Right","ModuleId":1,"Encoder":{"Id":2,"Name":"Front Right Pod","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":5,"Name":"FR Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":4,"Name":"FR Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.26904296875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":5,"ValidatedDriveId":4,"ValidatedEncoderId":2},{"ModuleName":"Back Left","ModuleId":2,"Encoder":{"Id":1,"Name":"Back Left Pod","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":3,"Name":"BL Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":2,"Name":"BL Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.34912109375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":3,"ValidatedDriveId":2,"ValidatedEncoderId":1},{"ModuleName":"Back Right","ModuleId":3,"Encoder":{"Id":4,"Name":"Back Right Pod","Model":"CANCoder","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"SteerMotor":{"Id":7,"Name":"BR Steer","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"DriveMotor":{"Id":6,"Name":"BR Drive","Model":"Talon FX vers. C","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60},"IsStandaloneFx":false},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.38232421875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":7,"ValidatedDriveId":6,"ValidatedEncoderId":4}],"SwerveOptions":{"kSpeedAt12Volts":4.731460295787658,"Gyro":{"Id":0,"Name":"Pigeon 2 vers. S (Device ID 0)","Model":"Pigeon 2 vers. S","CANbus":"95420E7250374E5320202047101110FF","CANbusFriendly":"canivore0","SelectedMotorType":null,"IsStandaloneFx":false},"IsValidGyroCANbus":true,"VerticalTrackSizeInches":23.729,"HorizontalTrackSizeInches":23.729,"WheelRadiusInches":2.0,"IsLeftSideInverted":false,"IsRightSideInverted":true,"SwerveModuleType":4,"SwerveModuleConfiguration":{"ModuleBrand":4,"DriveRatio":6.746031746031747,"SteerRatio":21.428571428571427,"CouplingRatio":3.5714285714285716,"CustomName":"L2"},"HasVerifiedSteer":true,"SelectedModuleManufacturer":"Swerve Drive Specialties (SDS)","HasVerifiedDrive":true,"IsValidConfiguration":true}}
\ No newline at end of file
diff --git a/2025-Robot-Code/vendordeps/PathplannerLib-2025.2.6.json b/2025-Robot-Code/vendordeps/PathplannerLib-2025.2.6.json
deleted file mode 100644
index 95ba203..0000000
--- a/2025-Robot-Code/vendordeps/PathplannerLib-2025.2.6.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "fileName": "PathplannerLib-2025.2.6.json",
- "name": "PathplannerLib",
- "version": "2025.2.6",
- "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
- "frcYear": "2025",
- "mavenUrls": [
- "https://3015rangerrobotics.github.io/pathplannerlib/repo"
- ],
- "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
- "javaDependencies": [
- {
- "groupId": "com.pathplanner.lib",
- "artifactId": "PathplannerLib-java",
- "version": "2025.2.6"
- }
- ],
- "jniDependencies": [],
- "cppDependencies": [
- {
- "groupId": "com.pathplanner.lib",
- "artifactId": "PathplannerLib-cpp",
- "version": "2025.2.6",
- "libName": "PathplannerLib",
- "headerClassifier": "headers",
- "sharedLibrary": false,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "osxuniversal",
- "linuxathena",
- "linuxarm32",
- "linuxarm64"
- ]
- }
- ]
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/vendordeps/Phoenix6-frc2025-latest.json b/2025-Robot-Code/vendordeps/Phoenix6-frc2025-latest.json
deleted file mode 100644
index d7bea57..0000000
--- a/2025-Robot-Code/vendordeps/Phoenix6-frc2025-latest.json
+++ /dev/null
@@ -1,449 +0,0 @@
-{
- "fileName": "Phoenix6-frc2025-latest.json",
- "name": "CTRE-Phoenix (v6)",
- "version": "25.3.2",
- "frcYear": "2025",
- "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
- "mavenUrls": [
- "https://maven.ctr-electronics.com/release/"
- ],
- "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
- "conflictsWith": [
- {
- "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
- "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
- "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
- }
- ],
- "javaDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "wpiapi-java",
- "version": "25.3.2"
- }
- ],
- "jniDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "api-cpp",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "tools",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "api-cpp-sim",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "tools-sim",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simTalonSRX",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simVictorSPX",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simPigeonIMU",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simCANCoder",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFX",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFXS",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANcoder",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProPigeon2",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANrange",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANdi",
- "version": "25.3.2",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- }
- ],
- "cppDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "wpiapi-cpp",
- "version": "25.3.2",
- "libName": "CTRE_Phoenix6_WPI",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "tools",
- "version": "25.3.2",
- "libName": "CTRE_PhoenixTools",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "wpiapi-cpp-sim",
- "version": "25.3.2",
- "libName": "CTRE_Phoenix6_WPISim",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "tools-sim",
- "version": "25.3.2",
- "libName": "CTRE_PhoenixTools_Sim",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simTalonSRX",
- "version": "25.3.2",
- "libName": "CTRE_SimTalonSRX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simVictorSPX",
- "version": "25.3.2",
- "libName": "CTRE_SimVictorSPX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simPigeonIMU",
- "version": "25.3.2",
- "libName": "CTRE_SimPigeonIMU",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simCANCoder",
- "version": "25.3.2",
- "libName": "CTRE_SimCANCoder",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFX",
- "version": "25.3.2",
- "libName": "CTRE_SimProTalonFX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFXS",
- "version": "25.3.2",
- "libName": "CTRE_SimProTalonFXS",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANcoder",
- "version": "25.3.2",
- "libName": "CTRE_SimProCANcoder",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProPigeon2",
- "version": "25.3.2",
- "libName": "CTRE_SimProPigeon2",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANrange",
- "version": "25.3.2",
- "libName": "CTRE_SimProCANrange",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANdi",
- "version": "25.3.2",
- "libName": "CTRE_SimProCANdi",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- }
- ]
-}
\ No newline at end of file
diff --git a/2025-Robot-Code/vendordeps/photonlib.json b/2025-Robot-Code/vendordeps/photonlib.json
deleted file mode 100644
index 2d7b1d8..0000000
--- a/2025-Robot-Code/vendordeps/photonlib.json
+++ /dev/null
@@ -1,71 +0,0 @@
-{
- "fileName": "photonlib.json",
- "name": "photonlib",
- "version": "v2025.3.1",
- "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
- "frcYear": "2025",
- "mavenUrls": [
- "https://maven.photonvision.org/repository/internal",
- "https://maven.photonvision.org/repository/snapshots"
- ],
- "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
- "jniDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-cpp",
- "version": "v2025.3.1",
- "skipInvalidPlatforms": true,
- "isJar": false,
- "validPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "cppDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photonlib-cpp",
- "version": "v2025.3.1",
- "libName": "photonlib",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- },
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-cpp",
- "version": "v2025.3.1",
- "libName": "photontargeting",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "javaDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photonlib-java",
- "version": "v2025.3.1"
- },
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-java",
- "version": "v2025.3.1"
- }
- ]
-}
\ No newline at end of file
diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md
new file mode 100644
index 0000000..01de6ac
--- /dev/null
+++ b/AdvantageKit-License.md
@@ -0,0 +1,26 @@
+Copyright (c) 2021-2025 Littleton Robotics. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+- Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+- Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+- Neither the name of Littleton Robotics, FRC 6328 ("Mechanical Advantage"),
+ AdvantageKit, nor the names of other AdvantageKit contributors may be
+ used to endorse or promote products derived from this software without
+ specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY LITTLETON ROBOTICS AND OTHER ADVANTAGEKIT
+CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT
+NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT
+AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+LITTLETON ROBOTICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/AdvantageScope Swerve Calibration.json b/AdvantageScope Swerve Calibration.json
new file mode 100644
index 0000000..f412ed2
--- /dev/null
+++ b/AdvantageScope Swerve Calibration.json
@@ -0,0 +1,463 @@
+{
+ "hubs": [
+ {
+ "x": 139,
+ "y": 95,
+ "width": 1100,
+ "height": 650,
+ "state": {
+ "sidebar": {
+ "width": 300,
+ "expanded": [
+ "/Drive",
+ "/RealOutputs",
+ "/RealOutputs/SwerveStates",
+ "/RealOutputs/SwerveChassisSpeeds",
+ "/RealOutputs/Odometry"
+ ]
+ },
+ "tabs": {
+ "selected": 1,
+ "tabs": [
+ {
+ "type": 0,
+ "title": "",
+ "controller": null,
+ "controllerUUID": "grimvlgu9aluj8btvwotco2wpj0pto2h",
+ "renderer": "#/",
+ "controlsHeight": 0
+ },
+ {
+ "type": 9,
+ "title": "Drive Overview",
+ "controller": {
+ "sources": [
+ {
+ "type": "states",
+ "logKey": "/RealOutputs/SwerveStates/Measured",
+ "logType": "SwerveModuleState[]",
+ "visible": true,
+ "options": {
+ "color": "#ff0000",
+ "arrangement": "0,1,2,3"
+ }
+ },
+ {
+ "type": "states",
+ "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized",
+ "logType": "SwerveModuleState[]",
+ "visible": true,
+ "options": {
+ "color": "#00ffff",
+ "arrangement": "0,1,2,3"
+ }
+ },
+ {
+ "type": "chassisSpeeds",
+ "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured",
+ "logType": "ChassisSpeeds",
+ "visible": true,
+ "options": {
+ "color": "#ff0000"
+ }
+ },
+ {
+ "type": "chassisSpeeds",
+ "logKey": "/RealOutputs/SwerveChassisSpeeds/Setpoints",
+ "logType": "ChassisSpeeds",
+ "visible": true,
+ "options": {
+ "color": "#00ffff"
+ }
+ },
+ {
+ "type": "rotation",
+ "logKey": "/RealOutputs/Odometry/Robot/rotation",
+ "logType": "Rotation2d",
+ "visible": true,
+ "options": {}
+ }
+ ],
+ "maxSpeed": 5,
+ "sizeX": 0.65,
+ "sizeY": 0.65,
+ "orientation": 1
+ },
+ "controllerUUID": "prdx7t2eedan6n46dxrjfu7eisf16f9o",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 3,
+ "title": "Field",
+ "controller": {
+ "sources": [
+ {
+ "type": "robot",
+ "logKey": "/RealOutputs/Odometry/Robot",
+ "logType": "Pose2d",
+ "visible": true,
+ "options": {
+ "model": "Crab Bot"
+ }
+ },
+ {
+ "type": "trajectory",
+ "logKey": "/RealOutputs/Odometry/Trajectory",
+ "logType": "Pose2d[]",
+ "visible": true,
+ "options": {
+ "color": "#ff8c00",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "ghost",
+ "logKey": "/RealOutputs/Odometry/TrajectorySetpoint",
+ "logType": "Pose2d",
+ "visible": true,
+ "options": {
+ "model": "Crab Bot",
+ "color": "#ff8c00"
+ }
+ }
+ ],
+ "game": "2025 Field",
+ "origin": "blue"
+ },
+ "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte",
+ "renderer": {
+ "cameraIndex": -1,
+ "orbitFov": 50,
+ "cameraPosition": [
+ 1.4695761589768238e-15,
+ 5.999999999999999,
+ -12
+ ],
+ "cameraTarget": [
+ 0,
+ 0.5,
+ 0
+ ]
+ },
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Turn Calibration",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module0/TurnPosition/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module1/TurnPosition/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#af2437",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module2/TurnPosition/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#80588e",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module3/TurnPosition/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e48b32",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "ol8lk80m83ma3aegae849d6k1d29sp7d",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Drive Calibration",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module0/DrivePositionRad",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module1/DrivePositionRad",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#af2437",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module2/DrivePositionRad",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#80588e",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module3/DrivePositionRad",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e48b32",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "7jj1f83nsv59dd2ou11ls3ccz5tq1293",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Turn PID Tuning",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveStates/Measured/0/angle/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#2b66a2",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/angle/value",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "kj6tf6sxm5g04wnjrhed6mx2wpccmqtn",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Drive PID Tuning",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveStates/Measured/0/speed",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#2b66a2",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/speed",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "bctxg9pmwpo31m9bv9ofr92oqqtbpqzp",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Max Speed Measurement",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vx",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#2b66a2",
+ "size": "normal"
+ }
+ },
+ {
+ "type": "stepped",
+ "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vy",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "oy3vmjuhr7g36evikwnmjhfacl30mzn5",
+ "renderer": null,
+ "controlsHeight": 200
+ },
+ {
+ "type": 1,
+ "title": "Slip Current Measurement",
+ "controller": {
+ "leftSources": [
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module0/DriveCurrentAmps",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#2b66a2",
+ "size": "normal"
+ }
+ }
+ ],
+ "rightSources": [
+ {
+ "type": "stepped",
+ "logKey": "/Drive/Module0/DriveVelocityRadPerSec",
+ "logType": "Number",
+ "visible": true,
+ "options": {
+ "color": "#e5b31b",
+ "size": "normal"
+ }
+ }
+ ],
+ "discreteSources": [],
+ "leftLockedRange": null,
+ "rightLockedRange": null,
+ "leftUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "rightUnitConversion": {
+ "type": null,
+ "factor": 1
+ },
+ "leftFilter": 0,
+ "rightFilter": 0
+ },
+ "controllerUUID": "efudylbvebbv1ga2kosknov0uegmtj7h",
+ "renderer": null,
+ "controlsHeight": 200
+ }
+ ]
+ }
+ }
+ }
+ ],
+ "satellites": [],
+ "version": "4.0.0-beta-3"
+}
diff --git a/2025-Robot-Code/WPILib-License.md b/WPILib-License.md
similarity index 60%
rename from 2025-Robot-Code/WPILib-License.md
rename to WPILib-License.md
index 645e542..051080d 100644
--- a/2025-Robot-Code/WPILib-License.md
+++ b/WPILib-License.md
@@ -1,16 +1,17 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2025 FIRST and other WPILib contributors
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- * Neither the name of FIRST, WPILib, nor the names of other WPILib
- contributors may be used to endorse or promote products derived from
- this software without specific prior written permission.
+
+- Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+- Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+- Neither the name of FIRST, WPILib, nor the names of other WPILib
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..6875f07
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,219 @@
+plugins {
+ id "java"
+ id "edu.wpi.first.GradleRIO" version "2025.3.2"
+ id "com.peterabeles.gversion" version "1.10"
+ id "com.diffplug.spotless" version "6.12.0"
+ id "io.freefair.lombok" version "8.4"
+}
+
+java {
+ sourceCompatibility = JavaVersion.VERSION_17
+ targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+ targets {
+ roborio(getTargetTypeClass('RoboRIO')) {
+ // Team number is loaded either from the .wpilib/wpilib_preferences.json
+ // or from command line. If not found an exception will be thrown.
+ // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+ // want to store a team number in this file.
+ team = project.frc.getTeamNumber()
+ debug = project.frc.getDebugOrDefault(false)
+
+ artifacts {
+ // First part is artifact name, 2nd is artifact type
+ // getTargetTypeClass is a shortcut to get the class type using a string
+
+ frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+ jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
+ jvmArgs.add("-XX:GCTimeRatio=5")
+ jvmArgs.add("-XX:+UseSerialGC")
+ jvmArgs.add("-XX:MaxGCPauseMillis=50")
+
+ // The options below may improve performance, but should only be enabled on the RIO 2
+ //
+ final MAX_JAVA_HEAP_SIZE_MB = 100;
+ jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
+ jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
+ jvmArgs.add("-XX:+AlwaysPreTouch")
+ }
+
+ // Static files artifact
+ frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+ files = project.fileTree('src/main/deploy')
+ directory = '/home/lvuser/deploy'
+ // Change to true to delete files on roboRIO that no
+ // longer exist in deploy directory on roboRIO
+ deleteOldFiles = true
+ }
+ }
+ }
+ }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Configuration for AdvantageKit
+task(replayWatch, type: JavaExec) {
+ mainClass = "org.littletonrobotics.junction.ReplayWatch"
+ classpath = sourceSets.main.runtimeClasspath
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+ annotationProcessor wpi.java.deps.wpilibAnnotations()
+ implementation wpi.java.deps.wpilib()
+ implementation wpi.java.vendor.java()
+
+ roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+ roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+ roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+ roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+ nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+ nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+ simulationDebug wpi.sim.enableDebug()
+
+ nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+ nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+ simulationRelease wpi.sim.enableRelease()
+
+ testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+ testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+ def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+ annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+}
+
+test {
+ useJUnitPlatform()
+ systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+//
+// The sim GUI is *disabled* by default to support running
+// AdvantageKit log replay from the command line. Set the
+// value to "true" to enable the sim GUI by default (this
+// is the standard WPILib behavior).
+wpi.sim.addGui().defaultEnabled = false
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+ from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+ from sourceSets.main.allSource
+ manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+ duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+ options.compilerArgs.add '-XDstringConcat=inline'
+}
+
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+ srcDir = "src/main/java/"
+ classPackage = "frc.robot"
+ className = "BuildConstants"
+ dateFormat = "yyyy-MM-dd HH:mm:ss z"
+ timeZone = "America/New_York"
+ indent = " "
+}
+
+// Create commit with working changes on event branches
+task(eventDeploy) {
+ doLast {
+ if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
+ def branchPrefix = "event"
+ def branch = 'git branch --show-current'.execute().text.trim()
+ def commitMessage = "Update at '${new Date().toString()}'"
+
+ if (branch.startsWith(branchPrefix)) {
+ exec {
+ workingDir(projectDir)
+ executable 'git'
+ args 'add', '-A'
+ }
+ exec {
+ workingDir(projectDir)
+ executable 'git'
+ args 'commit', '-m', commitMessage
+ ignoreExitValue = true
+ }
+
+ println "Committed to branch: '$branch'"
+ println "Commit message: '$commitMessage'"
+ } else {
+ println "Not on an event branch, skipping commit"
+ }
+ } else {
+ println "Not running deploy task, skipping commit"
+ }
+ }
+}
+createVersionFile.dependsOn(eventDeploy)
+
+// Spotless formatting
+project.compileJava.dependsOn(spotlessApply)
+spotless {
+ java {
+ target fileTree(".") {
+ include "**/*.java"
+ exclude "**/build/**", "**/build-*/**"
+ }
+ toggleOffOn()
+ googleJavaFormat()
+ removeUnusedImports()
+ trimTrailingWhitespace()
+ endWithNewline()
+ }
+ groovyGradle {
+ target fileTree(".") {
+ include "**/*.gradle"
+ exclude "**/build/**", "**/build-*/**"
+ }
+ greclipse()
+ indentWithSpaces(4)
+ trimTrailingWhitespace()
+ endWithNewline()
+ }
+ json {
+ target fileTree(".") {
+ include "**/*.json"
+ exclude "**/build/**", "**/build-*/**"
+ }
+ gson().indentWithSpaces(2)
+ }
+ format "misc", {
+ target fileTree(".") {
+ include "**/*.md", "**/.gitignore"
+ exclude "**/build/**", "**/build-*/**"
+ }
+ trimTrailingWhitespace()
+ indentWithSpaces(2)
+ endWithNewline()
+ }
+}
diff --git a/camera_calibrations/Left_1280x720.json b/camera_calibrations/Left_1280x720.json
new file mode 100644
index 0000000..4ce6d35
--- /dev/null
+++ b/camera_calibrations/Left_1280x720.json
@@ -0,0 +1,26569 @@
+{
+ "resolution": {
+ "width": 1280.0,
+ "height": 720.0
+ },
+ "cameraIntrinsics": {
+ "rows": 3,
+ "cols": 3,
+ "type": 6,
+ "data": [
+ 1080.1899962209704,
+ 0.0,
+ 698.1224473538825,
+ 0.0,
+ 1087.2396295572546,
+ 366.19333104023036,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "distCoeffs": {
+ "rows": 1,
+ "cols": 8,
+ "type": 6,
+ "data": [
+ -0.4519166989522143,
+ 0.2833334265777998,
+ 0.004764470006670603,
+ -0.008685762349278483,
+ -0.1139325578715391,
+ -0.0026402633364517817,
+ 0.023630108319121393,
+ -0.03881481053904473
+ ]
+ },
+ "calobjectWarp": [
+ 3.334052076789921E-4,
+ -1.9574254017395258E-4
+ ],
+ "observations": [
+ {
+ "locationInObjectSpace": [
+ {
+ "x": 0.0,
+ "y": 0.0,
+ "z": 0.0
+ },
+ {
+ "x": 0.02539999969303608,
+ "y": 0.0,
+ "z": 0.0
+ },
+ {
+ "x": 0.05079999938607216,
+ "y": 0.0,
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diff --git a/camera_calibrations/Left_1280x800.json b/camera_calibrations/Left_1280x800.json
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diff --git a/camera_calibrations/Right_1280x720.json b/camera_calibrations/Right_1280x720.json
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diff --git a/camera_calibrations/Right_1280x800.json b/camera_calibrations/Right_1280x800.json
new file mode 100644
index 0000000..b824501
--- /dev/null
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diff --git a/deploy/pathplanner/navgrid.json b/deploy/pathplanner/navgrid.json
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index 23e0db9..0000000
--- a/deploy/pathplanner/navgrid.json
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@@ -1 +0,0 @@
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true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/elastic-layout.json b/elastic-layout.json
new file mode 100644
index 0000000..d5f18b2
--- /dev/null
+++ b/elastic-layout.json
@@ -0,0 +1,349 @@
+{
+ "version": 1.0,
+ "grid_size": 128,
+ "tabs": [
+ {
+ "name": "Teleoperated",
+ "grid_layout": {
+ "layouts": [],
+ "containers": [
+ {
+ "title": "Field",
+ "x": 0.0,
+ "y": 0.0,
+ "width": 768.0,
+ "height": 384.0,
+ "type": "Field",
+ "properties": {
+ "topic": "/SmartDashboard/Field",
+ "period": 0.02,
+ "field_game": "Reefscape",
+ "robot_width": 0.85,
+ "robot_length": 0.85,
+ "show_other_objects": true,
+ "show_trajectories": true,
+ "field_rotation": 0.0,
+ "robot_color": 4294198070,
+ "trajectory_color": 4294967295
+ }
+ },
+ {
+ "title": "Entrance Detected",
+ "x": 0.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/SmartDashboard/Entrance Detected",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Exit Detected",
+ "x": 256.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/SmartDashboard/Exit Detected",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Match Time",
+ "x": 768.0,
+ "y": 0.0,
+ "width": 384.0,
+ "height": 256.0,
+ "type": "Match Time",
+ "properties": {
+ "topic": "/SmartDashboard/Match Time",
+ "period": 0.02,
+ "data_type": "double",
+ "time_display_mode": "Minutes and Seconds",
+ "red_start_time": 15,
+ "yellow_start_time": 30
+ }
+ },
+ {
+ "title": "Swerve Drive",
+ "x": 768.0,
+ "y": 256.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "SwerveDrive",
+ "properties": {
+ "topic": "/SmartDashboard/Swerve Drive",
+ "period": 0.02,
+ "show_robot_rotation": true,
+ "rotation_unit": "Radians"
+ }
+ },
+ {
+ "title": "Control Mode",
+ "x": 512.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Text Display",
+ "properties": {
+ "topic": "/AdvantageKit/RealOutputs/Robot/Control Mode",
+ "period": 0.02,
+ "data_type": "string",
+ "show_submit_button": false
+ }
+ },
+ {
+ "title": "Utilized Memory %",
+ "x": 1152.0,
+ "y": 0.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "Graph",
+ "properties": {
+ "topic": "/AdvantageKit/RealOutputs/Robot/Utilized Memory %",
+ "period": 0.02,
+ "data_type": "double",
+ "time_displayed": 5.0,
+ "min_value": 0.0,
+ "max_value": 1.0,
+ "color": 4278238420,
+ "line_width": 2.0
+ }
+ },
+ {
+ "title": "BatteryVoltage",
+ "x": 512.0,
+ "y": 512.0,
+ "width": 512.0,
+ "height": 128.0,
+ "type": "Voltage View",
+ "properties": {
+ "topic": "/AdvantageKit/SystemStats/BatteryVoltage",
+ "period": 0.02,
+ "data_type": "double",
+ "min_value": 2.5,
+ "max_value": 15.0,
+ "divisions": 6,
+ "inverted": false,
+ "orientation": "horizontal"
+ }
+ },
+ {
+ "title": "Left-processed",
+ "x": 1024.0,
+ "y": 256.0,
+ "width": 384.0,
+ "height": 384.0,
+ "type": "Camera Stream",
+ "properties": {
+ "topic": "/CameraPublisher/Left-processed",
+ "period": 0.02,
+ "rotation_turns": 0
+ }
+ }
+ ]
+ }
+ },
+ {
+ "name": "Autonomous",
+ "grid_layout": {
+ "layouts": [],
+ "containers": [
+ {
+ "title": "Field",
+ "x": 0.0,
+ "y": 0.0,
+ "width": 640.0,
+ "height": 384.0,
+ "type": "Field",
+ "properties": {
+ "topic": "/SmartDashboard/Field",
+ "period": 0.02,
+ "field_game": "Reefscape",
+ "robot_width": 0.85,
+ "robot_length": 0.85,
+ "show_other_objects": true,
+ "show_trajectories": true,
+ "field_rotation": 0.0,
+ "robot_color": 4294198070,
+ "trajectory_color": 4294967295
+ }
+ },
+ {
+ "title": "Auto Choices",
+ "x": 1024.0,
+ "y": 384.0,
+ "width": 384.0,
+ "height": 128.0,
+ "type": "ComboBox Chooser",
+ "properties": {
+ "topic": "/SmartDashboard/Auto Choices",
+ "period": 0.02,
+ "sort_options": false
+ }
+ },
+ {
+ "title": "Pathfind To Auto",
+ "x": 1152.0,
+ "y": 512.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Command",
+ "properties": {
+ "topic": "/SmartDashboard/Pathfind To Auto",
+ "period": 0.02,
+ "show_type": true
+ }
+ },
+ {
+ "title": "Near Auto Start",
+ "x": 768.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/AdvantageKit/RealOutputs/Robot/Near Auto Start",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Right Camera",
+ "x": 1024.0,
+ "y": 0.0,
+ "width": 384.0,
+ "height": 384.0,
+ "type": "Camera Stream",
+ "properties": {
+ "topic": "/CameraPublisher/Right-processed",
+ "period": 0.02,
+ "rotation_turns": 0
+ }
+ },
+ {
+ "title": "Match Number",
+ "x": 768.0,
+ "y": 512.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Large Text Display",
+ "properties": {
+ "topic": "/FMSInfo/MatchNumber",
+ "period": 0.02,
+ "data_type": "int"
+ }
+ },
+ {
+ "title": "Event Name",
+ "x": 512.0,
+ "y": 512.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Text Display",
+ "properties": {
+ "topic": "/FMSInfo/EventName",
+ "period": 0.02,
+ "data_type": "string",
+ "show_submit_button": false
+ }
+ },
+ {
+ "title": "StationNumber",
+ "x": 1024.0,
+ "y": 512.0,
+ "width": 128.0,
+ "height": 128.0,
+ "type": "Large Text Display",
+ "properties": {
+ "topic": "/FMSInfo/StationNumber",
+ "period": 0.02,
+ "data_type": "int"
+ }
+ },
+ {
+ "title": "Coral In Position",
+ "x": 512.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 128.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/SmartDashboard/Coral In Position",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Entrance Detected",
+ "x": 0.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/SmartDashboard/Entrance Detected",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Exit Detected",
+ "x": 256.0,
+ "y": 384.0,
+ "width": 256.0,
+ "height": 256.0,
+ "type": "Boolean Box",
+ "properties": {
+ "topic": "/SmartDashboard/Exit Detected",
+ "period": 0.02,
+ "data_type": "boolean",
+ "true_color": 4283215696,
+ "false_color": 4294198070,
+ "true_icon": "None",
+ "false_icon": "None"
+ }
+ },
+ {
+ "title": "Left Camera",
+ "x": 640.0,
+ "y": 0.0,
+ "width": 384.0,
+ "height": 384.0,
+ "type": "Camera Stream",
+ "properties": {
+ "topic": "/CameraPublisher/Left-processed",
+ "period": 0.02,
+ "rotation_turns": 0
+ }
+ }
+ ]
+ }
+ }
+ ]
+}
diff --git a/2025-Robot-Code/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
similarity index 100%
rename from 2025-Robot-Code/gradle/wrapper/gradle-wrapper.jar
rename to gradle/wrapper/gradle-wrapper.jar
diff --git a/2025-Robot-Code/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
similarity index 100%
rename from 2025-Robot-Code/gradle/wrapper/gradle-wrapper.properties
rename to gradle/wrapper/gradle-wrapper.properties
diff --git a/2025-Robot-Code/gradlew b/gradlew
similarity index 96%
rename from 2025-Robot-Code/gradlew
rename to gradlew
index f5feea6..1aa94a4 100644
--- a/2025-Robot-Code/gradlew
+++ b/gradlew
@@ -15,8 +15,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
-# SPDX-License-Identifier: Apache-2.0
-#
##############################################################################
#
@@ -57,7 +55,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
-# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -86,8 +84,7 @@ done
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-' "$PWD" ) || exit
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
diff --git a/2025-Robot-Code/gradlew.bat b/gradlew.bat
similarity index 91%
rename from 2025-Robot-Code/gradlew.bat
rename to gradlew.bat
index 9d21a21..896a53f 100644
--- a/2025-Robot-Code/gradlew.bat
+++ b/gradlew.bat
@@ -13,8 +13,6 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
-@rem SPDX-License-Identifier: Apache-2.0
-@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -45,11 +43,13 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
-echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation. 1>&2
+where java.exe
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
goto fail
@@ -59,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
-echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation. 1>&2
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
goto fail
diff --git a/2025-Robot-Code/settings.gradle b/settings.gradle
similarity index 100%
rename from 2025-Robot-Code/settings.gradle
rename to settings.gradle
diff --git a/src/main/deploy/pathplanner/autos/Middle G.auto b/src/main/deploy/pathplanner/autos/Middle G.auto
new file mode 100644
index 0000000..f7f66bd
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Middle G.auto
@@ -0,0 +1,37 @@
+{
+ "version": "2025.0",
+ "command": {
+ "type": "sequential",
+ "data": {
+ "commands": [
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Middle to Branch G"
+ }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "score_coral"
+ }
+ },
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Back Path from G"
+ }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "elevator_stow"
+ }
+ }
+ ]
+ }
+ },
+ "resetOdom": true,
+ "folder": null,
+ "choreoAuto": false
+}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/autos/Faster Opps Cage.auto b/src/main/deploy/pathplanner/autos/Own Side 4pc.auto
similarity index 58%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/autos/Faster Opps Cage.auto
rename to src/main/deploy/pathplanner/autos/Own Side 4pc.auto
index 698e447..4ceab9f 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/autos/Faster Opps Cage.auto
+++ b/src/main/deploy/pathplanner/autos/Own Side 4pc.auto
@@ -7,91 +7,73 @@
{
"type": "path",
"data": {
- "pathName": "Fast Opps to BL"
+ "pathName": "Own Cage to Branch J"
}
},
{
"type": "named",
"data": {
- "name": "score_safe"
+ "name": "score_coral"
}
},
{
"type": "path",
"data": {
- "pathName": "BL to Coral1 C"
+ "pathName": "Branch J to Left CS"
}
},
{
"type": "named",
"data": {
- "name": "intake_fast"
+ "name": "coral_intake"
}
},
{
"type": "path",
"data": {
- "pathName": "Coral1 C to DR"
+ "pathName": "Left CS to Branch K"
}
},
{
"type": "named",
"data": {
- "name": "score_safe"
+ "name": "score_coral"
}
},
{
"type": "path",
"data": {
- "pathName": "DR to Coral1"
+ "pathName": "Branch K to Left CS"
}
},
{
"type": "named",
"data": {
- "name": "intake_fast"
+ "name": "coral_intake"
}
},
{
"type": "path",
"data": {
- "pathName": "Coral1 to CL"
+ "pathName": "Left CS to Branch L"
}
},
{
"type": "named",
"data": {
- "name": "score_safe"
+ "name": "score_coral"
}
},
{
"type": "path",
"data": {
- "pathName": "CL to Coral1"
+ "pathName": "Branch L to Left CS"
}
},
{
"type": "named",
"data": {
- "name": "intake_fast"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "Coral1 to CR"
- }
- },
- {
- "type": "named",
- "data": {
- "name": "score_safe"
- }
- },
- {
- "type": "path",
- "data": {
- "pathName": "CR to Coral1"
+ "name": "coral_intake"
}
}
]
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..bbd9194
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1,1656 @@
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diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/AR 2.path b/src/main/deploy/pathplanner/paths/Back Path from G.path
similarity index 66%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/AR 2.path
rename to src/main/deploy/pathplanner/paths/Back Path from G.path
index 147d97d..526545f 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/AR 2.path
+++ b/src/main/deploy/pathplanner/paths/Back Path from G.path
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
- "x": 7.1,
- "y": 4.025
+ "x": 5.8,
+ "y": 3.870440340909091
},
"prevControl": null,
"nextControl": {
- "x": 4.918836744357451,
- "y": 4.23123947993963
+ "x": 6.745284813319056,
+ "y": 3.870440340909091
},
"isLocked": false,
- "linkedName": null
+ "linkedName": "Branch G"
},
{
"anchor": {
- "x": 5.881,
- "y": 4.180840163927584
+ "x": 6.5,
+ "y": 3.870440340909091
},
"prevControl": {
- "x": 8.322420968782987,
- "y": 3.726811356473352
+ "x": 5.862047337017383,
+ "y": 3.870440340909091
},
"nextControl": null,
"isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
- "maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxVelocity": 2.0,
+ "maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -45,10 +45,10 @@
"rotation": 180.0
},
"reversed": false,
- "folder": "Starting Paths",
+ "folder": "To Barge",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
- "useDefaultConstraints": true
+ "useDefaultConstraints": false
}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/FL to Coral2 Path.path b/src/main/deploy/pathplanner/paths/Branch J to Left CS.path
similarity index 54%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/FL to Coral2 Path.path
rename to src/main/deploy/pathplanner/paths/Branch J to Left CS.path
index 5238de0..cd17e5b 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/FL to Coral2 Path.path
+++ b/src/main/deploy/pathplanner/paths/Branch J to Left CS.path
@@ -3,40 +3,56 @@
"waypoints": [
{
"anchor": {
- "x": 5.337,
- "y": 5.143
+ "x": 4.965,
+ "y": 5.19
},
"prevControl": null,
"nextControl": {
- "x": 3.8497901943909616,
- "y": 6.030172930433941
+ "x": 4.84825858778626,
+ "y": 5.525768129770992
+ },
+ "isLocked": false,
+ "linkedName": "Branch J"
+ },
+ {
+ "anchor": {
+ "x": 4.337642045454546,
+ "y": 6.024303977272727
+ },
+ "prevControl": {
+ "x": 5.017651888559972,
+ "y": 5.377055366251678
+ },
+ "nextControl": {
+ "x": 3.711164038856905,
+ "y": 6.620599786394851
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
- "x": 1.55,
- "y": 7.457
+ "x": 1.45,
+ "y": 7.4
},
"prevControl": {
- "x": 1.7717072387697055,
- "y": 7.236731529889148
+ "x": 1.61452459604976,
+ "y": 7.211767013266369
},
"nextControl": null,
"isLocked": false,
- "linkedName": "Coral 2"
+ "linkedName": "Left CS Outside"
}
],
"rotationTargets": [],
"constraintZones": [
{
- "name": "Slow to intake",
- "minWaypointRelativePos": 0.0,
- "maxWaypointRelativePos": 0.20216400911161553,
+ "name": "Elevator slow",
+ "minWaypointRelativePos": 0,
+ "maxWaypointRelativePos": 0.6,
"constraints": {
- "maxVelocity": 2.0,
- "maxAcceleration": 2.0,
+ "maxVelocity": 4.73,
+ "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -47,31 +63,20 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "elevatorstow",
- "waypointRelativePos": 0.049544419134396944,
- "endWaypointRelativePos": null,
- "command": {
- "type": "named",
- "data": {
- "name": "elevatorstow"
- }
- }
- },
- {
- "name": "intake",
- "waypointRelativePos": 0.25,
+ "name": "elevator_stow",
+ "waypointRelativePos": 0.4,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "intake"
+ "name": "elevator_stow"
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -79,10 +84,10 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": -53.97262661489641
+ "rotation": -54.0
},
"reversed": false,
- "folder": "Top Coral from Reef Paths ",
+ "folder": "To Coral Station",
"idealStartingState": {
"velocity": 0,
"rotation": -119.99999999999999
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/DR to Coral1.path b/src/main/deploy/pathplanner/paths/Branch K to Left CS.path
similarity index 62%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/DR to Coral1.path
rename to src/main/deploy/pathplanner/paths/Branch K to Left CS.path
index d80b2ce..7510491 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/DR to Coral1.path
+++ b/src/main/deploy/pathplanner/paths/Branch K to Left CS.path
@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
- "x": 3.159,
- "y": 3.87
+ "x": 3.99,
+ "y": 5.165
},
"prevControl": null,
"nextControl": {
- "x": 2.6133196721311474,
- "y": 3.5862110655737713
+ "x": 3.2338551522325014,
+ "y": 5.838405080091534
},
"isLocked": false,
- "linkedName": "DR"
+ "linkedName": "Branch K"
},
{
"anchor": {
- "x": 1.4505122950819673,
- "y": 0.6025102459016398
+ "x": 1.45,
+ "y": 7.4
},
"prevControl": {
- "x": 1.6844991794344206,
- "y": 1.0676887276702551
+ "x": 1.7577511668472265,
+ "y": 7.068527226356515
},
"nextControl": null,
"isLocked": false,
- "linkedName": "Coral 1"
+ "linkedName": "Left CS Outside"
}
],
"rotationTargets": [],
@@ -33,20 +33,20 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "elevatorstow",
- "waypointRelativePos": 0.09614168247944001,
+ "name": "elevator_stow",
+ "waypointRelativePos": 0.1,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "elevatorstow"
+ "name": "elevator_stow"
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -54,13 +54,13 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": 54.0
+ "rotation": -54.0
},
"reversed": false,
- "folder": "Fast 4pc paths",
+ "folder": "To Coral Station",
"idealStartingState": {
"velocity": 0,
- "rotation": 0.0
+ "rotation": -59.99999999999999
},
"useDefaultConstraints": true
}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/AL 2.path b/src/main/deploy/pathplanner/paths/Branch L to Left CS.path
similarity index 61%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/AL 2.path
rename to src/main/deploy/pathplanner/paths/Branch L to Left CS.path
index 991b1d2..1ee55cd 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/AL 2.path
+++ b/src/main/deploy/pathplanner/paths/Branch L to Left CS.path
@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
- "x": 7.1,
- "y": 4.025
+ "x": 3.7,
+ "y": 5.08
},
"prevControl": null,
"nextControl": {
- "x": 5.43345240535961,
- "y": 3.793839931582558
+ "x": 2.82905182827821,
+ "y": 5.938221361663094
},
"isLocked": false,
- "linkedName": null
+ "linkedName": "Branch L"
},
{
"anchor": {
- "x": 5.802,
- "y": 3.86
+ "x": 1.45,
+ "y": 7.4
},
"prevControl": {
- "x": 7.550013031972286,
- "y": 4.061015565653943
+ "x": 1.9812049832571688,
+ "y": 6.854587884873947
},
"nextControl": null,
"isLocked": false,
- "linkedName": "AL"
+ "linkedName": "Left CS Outside"
}
],
"rotationTargets": [],
@@ -33,19 +33,19 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "elevatorl4",
- "waypointRelativePos": 0.0,
+ "name": "elevator_stow",
+ "waypointRelativePos": 0.1,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "elevatorl4"
+ "name": "elevator_stow"
}
}
}
],
"globalConstraints": {
- "maxVelocity": 3.0,
+ "maxVelocity": 4.73,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
@@ -54,13 +54,13 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": 180.0
+ "rotation": -54.0
},
"reversed": false,
- "folder": "Starting Paths",
+ "folder": "To Coral Station",
"idealStartingState": {
"velocity": 0,
- "rotation": 180.0
+ "rotation": -59.99999999999999
},
- "useDefaultConstraints": false
+ "useDefaultConstraints": true
}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral1 to CR.path b/src/main/deploy/pathplanner/paths/Left CS to Branch K.path
similarity index 60%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral1 to CR.path
rename to src/main/deploy/pathplanner/paths/Left CS to Branch K.path
index d12565c..0b66a32 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral1 to CR.path
+++ b/src/main/deploy/pathplanner/paths/Left CS to Branch K.path
@@ -3,56 +3,56 @@
"waypoints": [
{
"anchor": {
- "x": 1.4505122950819673,
- "y": 0.6025102459016398
+ "x": 1.45,
+ "y": 7.4
},
"prevControl": null,
"nextControl": {
- "x": 4.0764624119394535,
- "y": 2.387860981475356
+ "x": 2.260128415841917,
+ "y": 6.792802327309882
},
"isLocked": false,
- "linkedName": "Coral 1"
+ "linkedName": "Left CS Outside"
},
{
"anchor": {
- "x": 3.3539999999999996,
- "y": 1.9189999999999998
+ "x": 3.3305113636363637,
+ "y": 6.094105113636363
},
"prevControl": {
- "x": 2.4189482095578763,
- "y": 1.2316177140757094
+ "x": 3.169357917234621,
+ "y": 6.285232209341919
},
"nextControl": {
- "x": 4.471647789127194,
- "y": 2.7406136261128653
+ "x": 3.4916648100381065,
+ "y": 5.902978017930808
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
- "x": 3.9480192737355395,
- "y": 2.7800144619325793
+ "x": 3.99,
+ "y": 5.165
},
"prevControl": {
- "x": 3.721487322750495,
- "y": 2.88576546752075
+ "x": 2.966680002346885,
+ "y": 6.584473380310416
},
"nextControl": null,
"isLocked": false,
- "linkedName": "CR"
+ "linkedName": "Branch K"
}
],
"rotationTargets": [],
"constraintZones": [
{
- "name": "Slow for Elevator",
+ "name": "Elevator Slow",
"minWaypointRelativePos": 1.0,
"maxWaypointRelativePos": 2.0,
"constraints": {
- "maxVelocity": 3.0,
- "maxAcceleration": 3.25,
+ "maxVelocity": 4.0,
+ "maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -63,31 +63,31 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "intake",
- "waypointRelativePos": 0,
+ "name": "coral_jog",
+ "waypointRelativePos": 0.0,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "intake"
+ "name": "coral_jog"
}
}
},
{
- "name": "elevatorl4",
- "waypointRelativePos": 1.1504672897196193,
+ "name": "elevator_l4",
+ "waypointRelativePos": 0.5,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "elevatorl4"
+ "name": "elevator_l4"
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -95,13 +95,13 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": 59.99999999999999
+ "rotation": -59.99999999999999
},
"reversed": false,
- "folder": "Bottom Coral to Reef Paths",
+ "folder": "To Reef",
"idealStartingState": {
"velocity": 0,
- "rotation": 54.0
+ "rotation": -54.0
},
"useDefaultConstraints": true
}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral2 to EL Path.path b/src/main/deploy/pathplanner/paths/Left CS to Branch L.path
similarity index 67%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral2 to EL Path.path
rename to src/main/deploy/pathplanner/paths/Left CS to Branch L.path
index b49e85c..a1eaa60 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Coral2 to EL Path.path
+++ b/src/main/deploy/pathplanner/paths/Left CS to Branch L.path
@@ -3,39 +3,39 @@
"waypoints": [
{
"anchor": {
- "x": 1.55,
- "y": 7.457
+ "x": 1.45,
+ "y": 7.4
},
"prevControl": null,
"nextControl": {
- "x": 3.0661726577406583,
- "y": 6.096077644058996
+ "x": 1.9735168585623293,
+ "y": 6.855508222945173
},
"isLocked": false,
- "linkedName": "Coral 2"
+ "linkedName": "Left CS Outside"
},
{
"anchor": {
- "x": 3.96,
- "y": 5.28
+ "x": 3.7,
+ "y": 5.09
},
"prevControl": {
- "x": 3.023973189356413,
- "y": 6.128707934074227
+ "x": 3.1382777720233292,
+ "y": 5.691401169532676
},
"nextControl": null,
"isLocked": false,
- "linkedName": "EL"
+ "linkedName": "Branch L"
}
],
"rotationTargets": [],
"constraintZones": [
{
- "name": "Slow to Elevator",
- "minWaypointRelativePos": 0.400341685649203,
+ "name": "Slow for Elevator",
+ "minWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 1.0,
"constraints": {
- "maxVelocity": 2.0,
+ "maxVelocity": 4.0,
"maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
@@ -47,31 +47,31 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "intake",
+ "name": "coral_jog",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "intake"
+ "name": "coral_jog"
}
}
},
{
- "name": "elevatorl4",
- "waypointRelativePos": 0.6,
+ "name": "elevator_l4",
+ "waypointRelativePos": 0.4,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "elevatorl4"
+ "name": "elevator_l4"
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -82,10 +82,10 @@
"rotation": -59.99999999999999
},
"reversed": false,
- "folder": "Top Coral to Reef Paths",
+ "folder": "To Reef",
"idealStartingState": {
"velocity": 0,
- "rotation": -53.97262661489641
+ "rotation": -54.0
},
"useDefaultConstraints": true
}
\ No newline at end of file
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae A to Barge A.path b/src/main/deploy/pathplanner/paths/Middle to Branch G.path
similarity index 62%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae A to Barge A.path
rename to src/main/deploy/pathplanner/paths/Middle to Branch G.path
index ccd96e2..d013a17 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae A to Barge A.path
+++ b/src/main/deploy/pathplanner/paths/Middle to Branch G.path
@@ -3,45 +3,45 @@
"waypoints": [
{
"anchor": {
- "x": 5.706147540983607,
- "y": 4.030993852459016
+ "x": 7.1,
+ "y": 4.003
},
"prevControl": null,
"nextControl": {
- "x": 6.498601630795559,
- "y": 4.356004603611423
+ "x": 6.844093271096148,
+ "y": 3.93840794986094
},
"isLocked": false,
- "linkedName": "Algae A"
+ "linkedName": "Center Barge"
},
{
"anchor": {
- "x": 6.545286885245901,
- "y": 4.342674180327869
+ "x": 6.4,
+ "y": 3.87
},
"prevControl": {
- "x": 6.014334131972805,
- "y": 4.057255424658171
+ "x": 6.026795917406956,
+ "y": 3.908027620257666
},
"nextControl": {
- "x": 6.827420230022528,
- "y": 4.494337671481582
+ "x": 6.738875806428689,
+ "y": 3.8354702585463607
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
- "x": 7.25,
- "y": 4.999999999999999
+ "x": 5.8,
+ "y": 3.870440340909091
},
"prevControl": {
- "x": 6.842107411074362,
- "y": 4.452639565501362
+ "x": 6.249591809778119,
+ "y": 3.9170055453356905
},
"nextControl": null,
"isLocked": false,
- "linkedName": "Barge A"
+ "linkedName": "Branch G"
}
],
"rotationTargets": [],
@@ -49,13 +49,13 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "scorealgae",
- "waypointRelativePos": 1.0,
+ "name": "elevator_l4",
+ "waypointRelativePos": 0.6,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "scorealgae"
+ "name": "elevator_l4"
}
}
}
@@ -70,10 +70,10 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": 0.0
+ "rotation": 180.0
},
"reversed": false,
- "folder": "Algae Paths",
+ "folder": "Starting Paths",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
diff --git a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae E to Barge(not scoring).path b/src/main/deploy/pathplanner/paths/Own Cage to Branch J.path
similarity index 55%
rename from 2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae E to Barge(not scoring).path
rename to src/main/deploy/pathplanner/paths/Own Cage to Branch J.path
index 232a19d..d9a1d86 100644
--- a/2025-Robot-Code/src/main/deploy/pathplanner/paths/Algae E to Barge(not scoring).path
+++ b/src/main/deploy/pathplanner/paths/Own Cage to Branch J.path
@@ -3,45 +3,45 @@
"waypoints": [
{
"anchor": {
- "x": 3.81225,
- "y": 5.18525
+ "x": 7.0,
+ "y": 6.15
},
"prevControl": null,
"nextControl": {
- "x": 3.9976884654216094,
- "y": 5.480213380491504
+ "x": 5.849087030710886,
+ "y": 5.944372766023675
},
"isLocked": false,
- "linkedName": "Algae E"
+ "linkedName": "Own Cage"
},
{
"anchor": {
- "x": 4.3875,
- "y": 5.996977459016393
+ "x": 5.584,
+ "y": 5.945
},
"prevControl": {
- "x": 4.177555785431508,
- "y": 5.820852223990046
+ "x": 5.798306238353328,
+ "y": 6.073735528129753
},
"nextControl": {
- "x": 4.628624354001272,
- "y": 6.199260163525953
+ "x": 5.291531837432583,
+ "y": 5.76931195816531
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
- "x": 7.132684426229508,
- "y": 7.01593237704918
+ "x": 4.96,
+ "y": 5.19
},
"prevControl": {
- "x": 6.178657491637883,
- "y": 6.671453543121306
+ "x": 5.093145881788202,
+ "y": 5.401594362313466
},
"nextControl": null,
"isLocked": false,
- "linkedName": null
+ "linkedName": "Branch J"
}
],
"rotationTargets": [],
@@ -49,20 +49,20 @@
"pointTowardsZones": [],
"eventMarkers": [
{
- "name": "elevatorstow",
- "waypointRelativePos": 0.1,
+ "name": "elevator_l4",
+ "waypointRelativePos": 0.4,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
- "name": "elevatorstow"
+ "name": "elevator_l4"
}
}
}
],
"globalConstraints": {
- "maxVelocity": 4.73,
- "maxAcceleration": 4.5,
+ "maxVelocity": 4.0,
+ "maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -70,13 +70,13 @@
},
"goalEndState": {
"velocity": 0,
- "rotation": 0.0
+ "rotation": -119.99999999999999
},
"reversed": false,
- "folder": "Algae Paths",
+ "folder": "Starting Paths",
"idealStartingState": {
- "velocity": 0,
- "rotation": -59.99999999999999
+ "velocity": 0.0,
+ "rotation": -135.0
},
- "useDefaultConstraints": true
+ "useDefaultConstraints": false
}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..226d8be
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,39 @@
+{
+ "robotWidth": 0.9,
+ "robotLength": 0.9,
+ "holonomicMode": true,
+ "pathFolders": [
+ "To Barge",
+ "Starting Paths",
+ "To Coral Station",
+ "To Reef"
+ ],
+ "autoFolders": [],
+ "defaultMaxVel": 4.73,
+ "defaultMaxAccel": 3.0,
+ "defaultMaxAngVel": 540.0,
+ "defaultMaxAngAccel": 720.0,
+ "defaultNominalVoltage": 12.0,
+ "robotMass": 74.088,
+ "robotMOI": 6.883,
+ "robotTrackwidth": 0.546,
+ "driveWheelRadius": 0.048,
+ "driveGearing": 5.143,
+ "maxDriveSpeed": 5.45,
+ "driveMotorType": "krakenX60FOC",
+ "driveCurrentLimit": 100.0,
+ "wheelCOF": 1.2,
+ "flModuleX": 0.273,
+ "flModuleY": 0.273,
+ "frModuleX": 0.273,
+ "frModuleY": -0.273,
+ "blModuleX": -0.273,
+ "blModuleY": 0.273,
+ "brModuleX": -0.273,
+ "brModuleY": -0.273,
+ "bumperOffsetX": 0.0,
+ "bumperOffsetY": 0.0,
+ "robotFeatures": [
+ "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.25,\"y\":0.0},\"size\":{\"width\":0.2,\"length\":0.5},\"borderRadius\":0.0,\"strokeWidth\":0.02,\"filled\":false}}"
+ ]
+}
diff --git a/src/main/deploy/reeftags.json b/src/main/deploy/reeftags.json
new file mode 100644
index 0000000..dbdeca2
--- /dev/null
+++ b/src/main/deploy/reeftags.json
@@ -0,0 +1,242 @@
+{
+ "tags": [
+ {
+ "ID": 6,
+ "pose": {
+ "translation": {
+ "x": 13.474446,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.8660254037844387,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 7,
+ "pose": {
+ "translation": {
+ "x": 13.890498,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 1.0,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 8,
+ "pose": {
+ "translation": {
+ "x": 13.474446,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.8660254037844387,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 9,
+ "pose": {
+ "translation": {
+ "x": 12.643358,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.5000000000000001,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844386
+ }
+ }
+ }
+ },
+ {
+ "ID": 10,
+ "pose": {
+ "translation": {
+ "x": 12.227305999999999,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 6.123233995736766e-17,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 1.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 11,
+ "pose": {
+ "translation": {
+ "x": 12.643358,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.4999999999999998,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844387
+ }
+ }
+ }
+ },
+ {
+ "ID": 16,
+ "pose": {
+ "translation": {
+ "x": 5.9875419999999995,
+ "y": -0.0038099999999999996,
+ "z": 1.30175
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.7071067811865476,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.7071067811865476
+ }
+ }
+ }
+ },
+ {
+ "ID": 17,
+ "pose": {
+ "translation": {
+ "x": 4.073905999999999,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.4999999999999998,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844387
+ }
+ }
+ }
+ },
+ {
+ "ID": 18,
+ "pose": {
+ "translation": {
+ "x": 3.6576,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 6.123233995736766e-17,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 1.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 19,
+ "pose": {
+ "translation": {
+ "x": 4.073905999999999,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.5000000000000001,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844386
+ }
+ }
+ }
+ },
+ {
+ "ID": 20,
+ "pose": {
+ "translation": {
+ "x": 4.904739999999999,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.8660254037844387,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 21,
+ "pose": {
+ "translation": {
+ "x": 5.321046,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 1.0,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 22,
+ "pose": {
+ "translation": {
+ "x": 4.904739999999999,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.8660254037844387,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ }
+ ],
+ "field": {
+ "length": 17.548,
+ "width": 8.052
+ }
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
new file mode 100644
index 0000000..530fabb
--- /dev/null
+++ b/src/main/java/frc/robot/Constants.java
@@ -0,0 +1,36 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot;
+
+import com.ctre.phoenix6.CANBus;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running
+ * on a roboRIO. Change the value of "simMode" to switch between "sim" (physics sim) and "replay"
+ * (log replay from a file).
+ */
+public final class Constants {
+ public static final CANBus kRIOBus = new CANBus("rio"), kCanivore = new CANBus("canivore0");
+
+ public static final Mode simMode = Mode.SIM;
+ public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
+ public static final boolean DEVBOT = RobotBase.isSimulation() ? true : false;
+ public static final boolean TUNING_MODE = true;
+
+ public static final double TotalMemory = 100 * 1024 * 1024;
+
+ public static enum Mode {
+ /** Running on a real robot. */
+ REAL,
+ /** Running a physics or match simulator. */
+ SIM,
+ /** Replaying from a log file. */
+ REPLAY
+ }
+}
diff --git a/src/main/java/frc/robot/FieldConstants.java b/src/main/java/frc/robot/FieldConstants.java
new file mode 100644
index 0000000..eff9b46
--- /dev/null
+++ b/src/main/java/frc/robot/FieldConstants.java
@@ -0,0 +1,233 @@
+// Copyright (c) 2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.math.geometry.*;
+import edu.wpi.first.math.util.Units;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Contains various field dimensions and useful reference points. All units are in meters and poses
+ * have a blue alliance origin.
+ */
+public class FieldConstants {
+ public static final double fieldLength = Units.inchesToMeters(690.876);
+ public static final double fieldWidth = Units.inchesToMeters(317);
+ public static final Translation2d fieldCenter =
+ new Translation2d(fieldLength / 2, fieldWidth / 2);
+ public static final double startingLineX =
+ Units.inchesToMeters(299.438); // Measured from the inside of starting
+ // line
+
+ public static class Processor {
+ public static final Pose2d centerFace =
+ new Pose2d(Units.inchesToMeters(235.726), 0, Rotation2d.fromDegrees(90));
+ }
+
+ public static class Barge {
+ public static final Translation2d farCage =
+ new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(286.779));
+ public static final Translation2d middleCage =
+ new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(242.855));
+ public static final Translation2d closeCage =
+ new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(199.947));
+
+ // Measured from floor to bottom of cage
+ public static final double deepHeight = Units.inchesToMeters(3.125);
+ public static final double shallowHeight = Units.inchesToMeters(30.125);
+ }
+
+ public static class CoralStation {
+ public static final Pose2d leftCenterFace =
+ new Pose2d(
+ Units.inchesToMeters(33.526),
+ Units.inchesToMeters(291.176),
+ Rotation2d.fromDegrees(90 - 144.011));
+ public static final Pose2d rightCenterFace =
+ new Pose2d(
+ Units.inchesToMeters(33.526),
+ Units.inchesToMeters(25.824),
+ Rotation2d.fromDegrees(144.011 - 90));
+ }
+
+ public static class Reef {
+ public static final Translation2d centerOfReef =
+ new Translation2d(Units.inchesToMeters(176.746), Units.inchesToMeters(158.501));
+ public static final double faceToZoneLine =
+ Units.inchesToMeters(12); // Side of the reef to the inside of the
+ // reef zone line
+
+ public static final Pose2d[] centerFaces =
+ new Pose2d[12]; // Starting facing the driver station in clockwise
+ // order
+ public static final List> branchPositions =
+ new ArrayList<>(); // Starting at the right
+ // branch facing the
+ // driver station in
+ // clockwise order
+
+ static {
+ // Initialize faces
+ centerFaces[0] =
+ new Pose2d(
+ Units.inchesToMeters(144.003),
+ Units.inchesToMeters(158.500),
+ Rotation2d.fromDegrees(180));
+ centerFaces[1] =
+ new Pose2d(
+ Units.inchesToMeters(160.373),
+ Units.inchesToMeters(186.857),
+ Rotation2d.fromDegrees(120));
+ centerFaces[2] =
+ new Pose2d(
+ Units.inchesToMeters(193.116),
+ Units.inchesToMeters(186.858),
+ Rotation2d.fromDegrees(60));
+ centerFaces[3] =
+ new Pose2d(
+ Units.inchesToMeters(209.489),
+ Units.inchesToMeters(158.502),
+ Rotation2d.fromDegrees(0));
+ centerFaces[4] =
+ new Pose2d(
+ Units.inchesToMeters(193.118),
+ Units.inchesToMeters(130.145),
+ Rotation2d.fromDegrees(-60));
+ centerFaces[5] =
+ new Pose2d(
+ Units.inchesToMeters(160.375),
+ Units.inchesToMeters(130.144),
+ Rotation2d.fromDegrees(-120));
+
+ centerFaces[6] = centerFaces[0].rotateAround(fieldCenter, Rotation2d.k180deg);
+ centerFaces[7] = centerFaces[1].rotateAround(fieldCenter, Rotation2d.k180deg);
+ centerFaces[8] = centerFaces[2].rotateAround(fieldCenter, Rotation2d.k180deg);
+ centerFaces[9] = centerFaces[3].rotateAround(fieldCenter, Rotation2d.k180deg);
+ centerFaces[10] = centerFaces[4].rotateAround(fieldCenter, Rotation2d.k180deg);
+ centerFaces[11] = centerFaces[5].rotateAround(fieldCenter, Rotation2d.k180deg);
+
+ // Initialize branch positions
+ for (int face = 0; face < centerFaces.length; face++) {
+ Map fillRight = new HashMap<>();
+ Map fillLeft = new HashMap<>();
+ for (var level : ReefHeight.values()) {
+ Pose2d poseDirection = new Pose2d();
+ if (face < 6) {
+ poseDirection = new Pose2d(centerOfReef, centerFaces[face].getRotation());
+ } else {
+ poseDirection =
+ new Pose2d(
+ centerOfReef.rotateAround(fieldCenter, Rotation2d.k180deg),
+ centerFaces[face].getRotation());
+ }
+
+ double adjustX = Units.inchesToMeters(30.738); // Depth of branch from reef face
+ double adjustY = Units.inchesToMeters(6.469); // Offset from reef face
+ // centerline to branch
+
+ fillRight.put(
+ level,
+ new Pose3d(
+ new Translation3d(
+ poseDirection
+ .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d()))
+ .getX(),
+ poseDirection
+ .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d()))
+ .getY(),
+ level.height),
+ new Rotation3d(
+ 0,
+ Units.degreesToRadians(level.pitch),
+ poseDirection.getRotation().getRadians())));
+ fillLeft.put(
+ level,
+ new Pose3d(
+ new Translation3d(
+ poseDirection
+ .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d()))
+ .getX(),
+ poseDirection
+ .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d()))
+ .getY(),
+ level.height),
+ new Rotation3d(
+ 0,
+ Units.degreesToRadians(level.pitch),
+ poseDirection.getRotation().getRadians())));
+ }
+ branchPositions.add(fillRight);
+ branchPositions.add(fillLeft);
+ }
+ }
+ }
+
+ public static class StagingPositions {
+ // Measured from the center of the ice cream
+ public static final Pose2d leftIceCream =
+ new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(230.5), new Rotation2d());
+ public static final Pose2d middleIceCream =
+ new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(158.5), new Rotation2d());
+ public static final Pose2d rightIceCream =
+ new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(86.5), new Rotation2d());
+ }
+
+ public enum ReefHeight {
+ L4(Units.inchesToMeters(72), -90),
+ L3(Units.inchesToMeters(47.625), -35),
+ L2(Units.inchesToMeters(31.875), -35),
+ L1(Units.inchesToMeters(18), 0);
+
+ ReefHeight(double height, double pitch) {
+ this.height = height;
+ this.pitch = pitch; // in degrees
+ }
+
+ public final double height;
+ public final double pitch;
+ }
+
+ public static Pose2d getNearestReefFace(Pose2d currentPose) {
+ return currentPose.nearest(List.of(FieldConstants.Reef.centerFaces));
+ }
+
+ public enum ReefSide {
+ LEFT,
+ RIGHT
+ }
+
+ public static Pose2d getNearestReefBranch(Pose2d currentPose, ReefSide side) {
+ return FieldConstants.Reef.branchPositions
+ .get(
+ List.of(FieldConstants.Reef.centerFaces).indexOf(getNearestReefFace(currentPose)) * 2
+ + (side == ReefSide.LEFT ? 1 : 0))
+ .get(FieldConstants.ReefHeight.L1)
+ .toPose2d();
+ }
+
+ public static Pose2d getNearestCoralStation(Pose2d currentPose) {
+ if (currentPose.getTranslation().getX() > FieldConstants.fieldLength / 2) {
+ if (currentPose.getTranslation().getY() > FieldConstants.fieldWidth / 2) {
+ return FieldConstants.CoralStation.rightCenterFace.rotateAround(
+ FieldConstants.fieldCenter, Rotation2d.k180deg);
+ } else {
+ return FieldConstants.CoralStation.leftCenterFace.rotateAround(
+ FieldConstants.fieldCenter, Rotation2d.k180deg);
+ }
+ } else {
+ if (currentPose.getTranslation().getY() > FieldConstants.fieldWidth / 2) {
+ return FieldConstants.CoralStation.leftCenterFace;
+ } else {
+ return FieldConstants.CoralStation.rightCenterFace;
+ }
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
new file mode 100644
index 0000000..6ab9def
--- /dev/null
+++ b/src/main/java/frc/robot/Main.java
@@ -0,0 +1,28 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {}
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
new file mode 100644
index 0000000..e0e1ba8
--- /dev/null
+++ b/src/main/java/frc/robot/Robot.java
@@ -0,0 +1,215 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot;
+
+import com.ctre.phoenix6.SignalLogger;
+import com.ctre.phoenix6.Utils;
+import edu.wpi.first.util.ClassPreloader;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.util.Elastic;
+import frc.robot.util.Elastic.Notification;
+import frc.robot.util.Elastic.NotificationLevel;
+import lombok.val;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends LoggedRobot {
+ private Command autonomousCommand;
+ private final RobotContainer robotContainer;
+
+ // alert to display if preallocated memory is
+ private static final Notification kFullHeapNotification =
+ new Notification()
+ .withDescription(
+ "Used memory is more than 90% of preallocated memory, should increase amount of preallocated memory")
+ .withLevel(NotificationLevel.WARNING)
+ .withNoAutoDismiss();
+
+ private static final Notification kUnusedHeapNotification =
+ new Notification()
+ .withDescription(
+ "Used memory is less than 50% of preallocated memory, should reduce amount of preallocated memory")
+ .withLevel(NotificationLevel.WARNING)
+ .withNoAutoDismiss();
+
+ public Robot() {
+ // Preload subsystem classes
+ ClassPreloader.preload(
+ "frc.robot.RobotContainer",
+ "frc.robot.subsystems.drive.Drive",
+ "frc.robot.subsystems.drive.Module",
+ "frc.robot.subsystems.elevator.Elevator",
+ "frc.robot.subsystems.vision.Vision",
+ "frc.robot.subsystems.end_effector.EndEffector",
+ "frc.robot.subsystems.algae_arm.AlgaeArm",
+ "frc.robot.subsystems.Superstructure");
+
+ DriverStation.silenceJoystickConnectionWarning(true);
+
+ // Record metadata
+ Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+ Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+ Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+ Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+ Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+
+ switch (BuildConstants.DIRTY) {
+ case 0:
+ Logger.recordMetadata("GitDirty", "All changes committed");
+ break;
+ case 1:
+ Logger.recordMetadata("GitDirty", "Uncomitted changes");
+ break;
+ default:
+ Logger.recordMetadata("GitDirty", "Unknown");
+ break;
+ }
+
+ // Set up data receivers & replay source
+ switch (Constants.currentMode) {
+ case REAL:
+ // Running on a real robot, log to a USB stick ("/U/logs")
+ Logger.addDataReceiver(new WPILOGWriter());
+ Logger.addDataReceiver(new NT4Publisher());
+ // disable redundant logging from CTRE
+ SignalLogger.enableAutoLogging(false);
+ break;
+
+ case SIM:
+ // Running a physics simulator, log to NT
+ Logger.addDataReceiver(new NT4Publisher());
+ break;
+
+ case REPLAY:
+ // Replaying a log, set up replay source
+ setUseTiming(false); // Run as fast as possible
+ String logPath = LogFileUtil.findReplayLog();
+ Logger.setReplaySource(new WPILOGReader(logPath));
+ Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+ break;
+ }
+
+ // Start AdvantageKit logger
+ Logger.start();
+
+ // Instantiate our RobotContainer. This will perform all our button bindings,
+ // and put our autonomous chooser on the dashboard.
+ robotContainer = new RobotContainer();
+ }
+
+ /** This function is called periodically during all modes. */
+ @Override
+ public void robotPeriodic() {
+ val rt = Runtime.getRuntime();
+ val usedMem = (double) (rt.totalMemory() - rt.freeMemory());
+
+ Logger.recordOutput("Robot/Utilized Memory %", usedMem / (double) rt.totalMemory());
+ Logger.recordOutput(
+ "Robot/CurrentToFPGATimeOffset", Timer.getFPGATimestamp() - Utils.getCurrentTimeSeconds());
+ Logger.runEveryN(
+ // run twice every minute
+ 1500,
+ () -> {
+ if (usedMem >= 0.9 * Constants.TotalMemory) {
+ // If memory utilization is too high, send an alert to increase allocated heap size in
+ // JVM args
+ Elastic.sendNotification(kFullHeapNotification);
+ } else if (usedMem <= 0.5 * Constants.TotalMemory) {
+ // If memory utilization is too low, send an alert to decrease allocated heap size in
+ // JVM args
+ Elastic.sendNotification(kUnusedHeapNotification);
+ }
+ });
+
+ // Optionally switch the thread to high priority to improve loop
+ // timing (see the template project documentation for details)
+ // Threads.setCurrentThreadPriority(true, 99);
+
+ // Runs the Scheduler. This is responsible for polling buttons, adding
+ // newly-scheduled commands, running already-scheduled commands, removing
+ // finished or interrupted commands, and running subsystem periodic() methods.
+ // This must be called from the robot's periodic block in order for anything in
+ // the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+
+ robotContainer.periodic();
+
+ // Return to non-RT thread priority (do not modify the first argument)
+ // Threads.setCurrentThreadPriority(false, 10);
+ }
+
+ /** This function is called once when the robot is disabled. */
+ @Override
+ public void disabledInit() {
+ // Trigger a GC upon disable to ensure that all unnecessary objects are cleaned up.
+ // This is especially important after auto.
+ System.gc();
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ robotContainer.disabledPeriodic();
+ }
+
+ @Override
+ public void disabledExit() {
+ Logger.recordOutput("Robot/Near Auto Start", false);
+ }
+
+ /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+ @Override
+ public void autonomousInit() {
+ autonomousCommand = robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (autonomousCommand != null) {
+ autonomousCommand.schedule();
+ }
+ }
+
+ /** This function is called once when teleop is enabled. */
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (autonomousCommand != null) {
+ autonomousCommand.cancel();
+ }
+
+ robotContainer.stowElevator();
+
+ Elastic.selectTab("Teleoperated");
+ }
+
+ @Override
+ public void teleopExit() {
+ Elastic.selectTab("Autonomous");
+ }
+
+ /** This function is called once when test mode is enabled. */
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
new file mode 100644
index 0000000..1565ead
--- /dev/null
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -0,0 +1,332 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.commands.PathfindingCommand;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.autopilot.AutopilotCommands;
+import frc.robot.commands.DriveCommands;
+import frc.robot.commands.JoystickApproachCommand;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.Superstructure;
+import frc.robot.subsystems.algae_arm.AlgaeArm;
+import frc.robot.subsystems.climber.*;
+import frc.robot.subsystems.drive.*;
+import frc.robot.subsystems.elevator.*;
+import frc.robot.subsystems.elevator.Elevator.Setpoint;
+import frc.robot.subsystems.end_effector.*;
+import frc.robot.util.PositionUtils;
+import frc.robot.util.io.talon.TalonFXIO;
+import java.util.Set;
+import java.util.function.Supplier;
+import lombok.val;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // Subsystems
+ private final Drive drive;
+
+ // @SuppressWarnings("unused")
+ // private final Vision vision;
+
+ private final EndEffector endEffector;
+ private final Elevator elevator;
+ private final AlgaeArm algaeArm;
+ private final Climber climber;
+
+ private final Superstructure superstructure;
+
+ // Controller
+ private final CommandXboxController controller = new CommandXboxController(0);
+
+ // Dashboard inputs
+ private final LoggedDashboardChooser autoChooser;
+ private final Field2d field = new Field2d();
+
+ private static enum ControlMode {
+ Coral,
+ Algae,
+ }
+
+ private ControlMode controlMode = ControlMode.Coral;
+
+ private final Trigger coralMode = new Trigger(() -> controlMode == ControlMode.Coral);
+ private final Trigger algaeMode = new Trigger(() -> controlMode == ControlMode.Algae);
+
+ /** The container for the robot. Contains subsystems, IO devices, and commands. */
+ public RobotContainer() {
+ switch (Constants.currentMode) {
+ case REAL:
+ // Real robot, instantiate hardware IO implementations
+ drive =
+ new Drive(
+ new GyroIOPigeon2(),
+ new ModuleIOTalonFX(TunerConstants.FrontLeft),
+ new ModuleIOTalonFX(TunerConstants.FrontRight),
+ new ModuleIOTalonFX(TunerConstants.BackLeft),
+ new ModuleIOTalonFX(TunerConstants.BackRight));
+ // vision =
+ // new Vision(
+ // drive,
+ // new VisionIOPhotonVisionExt(0, drive::getPoseAtTime),
+ // new VisionIOPhotonVisionExt(1, drive::getPoseAtTime));
+ endEffector = EndEffector.createReal();
+ elevator = new Elevator(new ElevatorIOTalonFX());
+ algaeArm = AlgaeArm.createReal();
+ climber = new Climber(new ClimberIOReal());
+ break;
+
+ case SIM:
+ // Sim robot, instantiate physics sim IO implementations
+ drive =
+ new Drive(
+ new GyroIO() {},
+ new ModuleIOSim(TunerConstants.FrontLeft),
+ new ModuleIOSim(TunerConstants.FrontRight),
+ new ModuleIOSim(TunerConstants.BackLeft),
+ new ModuleIOSim(TunerConstants.BackRight));
+ // vision =
+ // new Vision(
+ // drive,
+ // new VisionIOPhotonVisionSim(CAMERA_NAMES[0], ROBOT_TO_CAMERAS[0],
+ // drive::getPose),
+ // new VisionIOPhotonVisionSim(CAMERA_NAMES[1], ROBOT_TO_CAMERAS[1],
+ // drive::getPose));
+
+ endEffector = EndEffector.createSim();
+ elevator = new Elevator(new ElevatorIOSim());
+ algaeArm = AlgaeArm.createSim();
+ // We don't simulate the climber due to the complexity of how it works and the ramifications
+ // it
+ // has on the rest of the robot
+ climber = new Climber(inputs -> {});
+ break;
+
+ default:
+ // Replayed robot, disable IO implementations
+ drive =
+ new Drive(
+ new GyroIO() {},
+ new ModuleIO() {},
+ new ModuleIO() {},
+ new ModuleIO() {},
+ new ModuleIO() {});
+ // vision = new Vision(drive, inputs -> {}, inputs -> {});
+ endEffector =
+ new EndEffector(new TalonFXIO() {}, new BeamBreakIO() {}, new BeamBreakIO() {}, false);
+ elevator = new Elevator(new ElevatorIO() {});
+ algaeArm = new AlgaeArm(new TalonFXIO() {});
+ climber = new Climber(inputs -> {});
+ break;
+ }
+
+ superstructure = new Superstructure(endEffector, elevator, algaeArm);
+
+ // configure auto commands BEFORE auto initializations :P
+ configureAutoCommands();
+ PathfindingCommand.warmupCommand().schedule();
+ // Set up auto routines
+ autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
+
+ // Only need to initialize mirrored paths because own side is included by buildAutoChooser
+ autoChooser.addOption("Opps Side 4pc", new PathPlannerAuto("Own Side 4pc", true));
+ autoChooser.addOption("Middle H", new PathPlannerAuto("Middle G", true));
+
+ // Only initialize dev autos while working with a devbot
+ if (Constants.DEVBOT) {
+ // Set up SysId routines
+ autoChooser.addOption(
+ "Drive Wheel Radius Characterization", DriveCommands.wheelRadiusCharacterization(drive));
+ autoChooser.addOption(
+ "Drive Simple FF Characterization", DriveCommands.feedforwardCharacterization(drive));
+ autoChooser.addOption(
+ "Drive SysId (Quasistatic Forward)",
+ drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
+ autoChooser.addOption(
+ "Drive SysId (Quasistatic Reverse)",
+ drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
+ autoChooser.addOption(
+ "Drive SysId (Dynamic Forward)", drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
+ autoChooser.addOption(
+ "Drive SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+ }
+
+ // Configure the button bindings
+ configureButtonBindings();
+ SmartDashboard.putData("Field", field);
+ SmartDashboard.putData(
+ "Pathfind To Auto", DriveCommands.driveToAutoStart(drive, autoChooser::get));
+ }
+
+ public void periodic() {
+ field.setRobotPose(drive.getPose());
+
+ Logger.recordOutput("Robot/Control Mode", controlMode);
+
+ SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime());
+ }
+
+ public void disabledPeriodic() {
+ val auto = autoChooser.get();
+
+ if (auto instanceof PathPlannerAuto a) {
+ Logger.recordOutput(
+ "Robot/Near Auto Start",
+ PositionUtils.isNear(drive.getPose(), a.getStartingPose(), 0.04));
+ } else {
+ Logger.recordOutput("Robot/Near Auto Start", false);
+ }
+ }
+
+ /**
+ * Use this method to define your button to command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Default command, normal field-relative drive
+ drive.setDefaultCommand(
+ DriveCommands.joystickDrive(
+ drive,
+ () -> -controller.getLeftY(),
+ () -> -controller.getLeftX(),
+ () -> -controller.getRightX()));
+
+ // Initialize coral scoring
+ controller.rightTrigger().and(coralMode).whileTrue(superstructure.scoreCoral(false));
+
+ // deferred stow command (so the setpoint can be changed)
+ var deferredStow =
+ Commands.defer(
+ () -> Commands.waitSeconds(SmartDashboard.getNumber("Elevator Defer Timeout", 0.1)),
+ Set.of())
+ .andThen(elevator.setTarget(Setpoint.Stowed));
+
+ // Initialize elevator setpoints
+ controller.x().and(coralMode).whileTrue(elevator.setTarget(Setpoint.L2)).onFalse(deferredStow);
+ controller
+ .x()
+ .and(algaeMode)
+ .whileTrue(elevator.setTarget(Setpoint.AlgaeLow))
+ .onFalse(deferredStow);
+ controller.b().and(coralMode).whileTrue(elevator.setTarget(Setpoint.L3)).onFalse(deferredStow);
+ controller
+ .b()
+ .and(algaeMode)
+ .whileTrue(elevator.setTarget(Setpoint.AlgaeHigh))
+ .onFalse(deferredStow);
+ controller.y().and(coralMode).whileTrue(elevator.setTarget(Setpoint.L4)).onFalse(deferredStow);
+ controller.y().and(algaeMode).whileTrue(superstructure.bargeShot()).onFalse(deferredStow);
+
+ // Initialize coral mode auto align
+ // controller
+ // .leftBumper()
+ // .and(coralMode)
+ // .whileTrue(
+ // joystickApproach(
+ // () -> FieldConstants.getNearestReefBranch(drive.getPose(), ReefSide.LEFT)));
+ // controller
+ // .rightBumper()
+ // .and(coralMode)
+ // .whileTrue(
+ // joystickApproach(
+ // () -> FieldConstants.getNearestReefBranch(drive.getPose(), ReefSide.RIGHT)));
+
+ // Initialize algae mode auto align
+ // controller
+ // .leftBumper()
+ // .and(algaeMode)
+ // .whileTrue(joystickApproach(() -> FieldConstants.getNearestReefFace(drive.getPose())));
+ // controller
+ // .rightBumper()
+ // .and(algaeMode)
+ // .whileTrue(joystickApproach(() -> FieldConstants.getNearestReefFace(drive.getPose())));
+ // controller
+ // .a()
+ // .and(algaeMode)
+ // .whileTrue(AutopilotCommands.driveToBarge(drive, () -> -controller.getLeftX()));
+
+ // Initialize barge algae mode & processor scoring
+ controller
+ .leftTrigger()
+ .onTrue(Commands.runOnce(() -> controlMode = ControlMode.Algae))
+ .whileTrue(Commands.print("Algae mode!").andThen(superstructure.algaeMode()))
+ .onFalse(
+ Commands.runOnce(() -> controlMode = ControlMode.Coral).alongWith(algaeArm.stow()));
+
+ controller
+ .rightTrigger()
+ .and(algaeMode)
+ .whileTrue(endEffector.scoreProcessor().alongWith(algaeArm.deploy()));
+
+ // Initialize climbing commands
+ controller.povDown().whileTrue(climber.deploy());
+ controller.povUp().whileTrue(climber.retract()).onTrue(algaeArm.drop());
+
+ controller
+ .povLeft()
+ .whileTrue(AutopilotCommands.intakeCoral(true, drive, elevator, endEffector));
+ controller
+ .povRight()
+ .whileTrue(AutopilotCommands.intakeCoral(false, drive, elevator, endEffector));
+ }
+
+ // Auto NamedCommands instantiations
+ private void configureAutoCommands() {
+ NamedCommands.registerCommand("elevator_stow", elevator.setTarget(Setpoint.Stowed));
+ NamedCommands.registerCommand("elevator_l3", elevator.setTarget(Setpoint.L3));
+ NamedCommands.registerCommand("elevator_l4", elevator.setTarget(Setpoint.L4));
+ NamedCommands.registerCommand(
+ "coral_intake", Commands.race(endEffector.autoIntake(), Commands.waitSeconds(0.5)));
+ NamedCommands.registerCommand("coral_jog", endEffector.autoJogCoral());
+ NamedCommands.registerCommand("score_coral", superstructure.scoreCoral(true));
+ NamedCommands.registerCommand("score_barge", superstructure.bargeShot());
+ }
+
+ private Command joystickApproach(Supplier approach) {
+ return new JoystickApproachCommand(drive, () -> -controller.getLeftY(), approach);
+ }
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return autoChooser.get();
+ }
+
+ /**
+ * Start the command to stow the elevator. This is so that autonomous doesn't exit with the
+ * elevator setpoint non-stowed
+ */
+ public void stowElevator() {
+ elevator.setTarget(Setpoint.Stowed).schedule();
+ }
+}
diff --git a/src/main/java/frc/robot/autopilot/AutopilotCommands.java b/src/main/java/frc/robot/autopilot/AutopilotCommands.java
new file mode 100644
index 0000000..f13522b
--- /dev/null
+++ b/src/main/java/frc/robot/autopilot/AutopilotCommands.java
@@ -0,0 +1,62 @@
+package frc.robot.autopilot;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.FieldConstants;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.subsystems.elevator.Elevator;
+import frc.robot.subsystems.end_effector.EndEffector;
+import java.util.function.DoubleSupplier;
+import lombok.val;
+import org.littletonrobotics.junction.Logger;
+
+public final class AutopilotCommands {
+ private static final Translation2d LEFT_INSIDE_TRANSLATION = new Translation2d(-0.5, -0.375);
+ private static final Translation2d LEFT_OUTSIDE_TRANSLATION = new Translation2d(0.5, 0.375);
+ private static final Translation2d RIGHT_INSIDE_TRANSLATION = new Translation2d(-0.5, 0.375);
+ private static final Translation2d RIGHT_OUTSIDE_TRANSLATION = new Translation2d(0.5, -0.375);
+
+ public static Command driveToCoralStation(Drive drive, boolean left) {
+ return new DriveToPoseCommand(
+ "DriveToCS",
+ drive,
+ () -> {
+ val drivePose = drive.getPose();
+ val leftSide = drivePose.getY() > FieldConstants.fieldCenter.getY();
+ // On the left side, "to the left" of the driver station is to the outside
+ val inside = leftSide ? !left : left;
+
+ Pose2d coralStation = FieldConstants.getNearestCoralStation(drive.getPose());
+ Logger.recordOutput("AutoAlign/DriveToCS/StationPose", coralStation);
+ Logger.recordOutput("AutoAlign/DriveToCS/ToInside", inside);
+ Logger.recordOutput("AutoAlign/DriveToCS/OnAllianceLeft", leftSide);
+
+ val stationTranslation = coralStation.getTranslation();
+
+ Translation2d targetTranslation;
+ if (leftSide) {
+ targetTranslation =
+ stationTranslation.plus(
+ inside ? LEFT_INSIDE_TRANSLATION : LEFT_OUTSIDE_TRANSLATION);
+ } else {
+ targetTranslation =
+ stationTranslation.plus(
+ inside ? RIGHT_INSIDE_TRANSLATION : RIGHT_OUTSIDE_TRANSLATION);
+ }
+
+ return new Pose2d(targetTranslation, coralStation.getRotation());
+ });
+ }
+
+ public static Command intakeCoral(
+ boolean inside, Drive drive, Elevator elevator, EndEffector endEffector) {
+ return Commands.parallel(
+ driveToCoralStation(drive, inside), elevator.stow(), endEffector.teleIntake());
+ }
+
+ public static Command driveToBarge(Drive drive, DoubleSupplier ySupplier) {
+ return new DriveToBargeCommand(drive, ySupplier);
+ }
+}
diff --git a/src/main/java/frc/robot/autopilot/DriveToBargeCommand.java b/src/main/java/frc/robot/autopilot/DriveToBargeCommand.java
new file mode 100644
index 0000000..8f68c2b
--- /dev/null
+++ b/src/main/java/frc/robot/autopilot/DriveToBargeCommand.java
@@ -0,0 +1,53 @@
+package frc.robot.autopilot;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.FieldConstants;
+import frc.robot.commands.DriveCommands;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.util.AllianceFlipUtil;
+import java.util.function.DoubleSupplier;
+import lombok.RequiredArgsConstructor;
+import lombok.val;
+import org.littletonrobotics.junction.Logger;
+
+@RequiredArgsConstructor
+final class DriveToBargeCommand extends Command {
+ private final Drive drive;
+ private final DoubleSupplier ySupplier;
+ private Rotation2d targetRotation;
+ private double targetX;
+
+ @Override
+ public void initialize() {
+ targetX = AllianceFlipUtil.applyX(FieldConstants.startingLineX - Units.inchesToMeters(12));
+ Logger.recordOutput("AutoAlign/DriveToBarge/TargetX", targetX);
+
+ targetRotation = AllianceFlipUtil.apply(Rotation2d.kZero);
+ }
+
+ @Override
+ public void execute() {
+ double yInput = MathUtil.applyDeadband(ySupplier.getAsDouble(), DriveCommands.DEADBAND);
+ if (AllianceFlipUtil.shouldFlip()) {
+ yInput = -yInput;
+ }
+ val vy = Math.copySign(yInput * yInput, yInput);
+
+ val drivePose = drive.getPose();
+
+ val vx = targetX - drivePose.getX();
+ val omega = targetRotation.minus(drivePose.getRotation()).getRadians();
+
+ Logger.recordOutput(
+ "AutoAlign/DriveToBarge/Target", new Pose2d(drivePose.getY(), targetX, targetRotation));
+
+ ChassisSpeeds speeds = new ChassisSpeeds(2 * vx, vy, omega);
+ speeds = ChassisSpeeds.fromFieldRelativeSpeeds(speeds, drivePose.getRotation());
+ drive.runVelocity(speeds);
+ }
+}
diff --git a/src/main/java/frc/robot/autopilot/DriveToPoseCommand.java b/src/main/java/frc/robot/autopilot/DriveToPoseCommand.java
new file mode 100644
index 0000000..67dc212
--- /dev/null
+++ b/src/main/java/frc/robot/autopilot/DriveToPoseCommand.java
@@ -0,0 +1,91 @@
+package frc.robot.autopilot;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.Drive;
+import java.util.function.Supplier;
+import lombok.Getter;
+import lombok.val;
+import org.littletonrobotics.junction.Logger;
+
+public class DriveToPoseCommand extends Command {
+ private final Drive drive;
+ private final Supplier poseSupplier;
+ private final String logKey;
+
+ @Getter private Pose2d targetPose;
+ private double initialDistance;
+ private Translation2d targetTranslation;
+ private Rotation2d targetRotation;
+ private boolean running = false;
+
+ public DriveToPoseCommand(String name, Drive drive, Supplier poseSupplier) {
+ setName(name);
+ logKey = "AutoAlign/" + name;
+
+ this.drive = drive;
+ this.poseSupplier = poseSupplier;
+
+ targetPose = poseSupplier.get();
+ targetTranslation = targetPose.getTranslation();
+ targetRotation = targetPose.getRotation();
+
+ addRequirements(drive);
+ }
+
+ @Override
+ public void initialize() {
+ targetPose = poseSupplier.get();
+ targetTranslation = targetPose.getTranslation();
+ targetRotation = targetPose.getRotation();
+ initialDistance = drive.getPose().getTranslation().getDistance(targetTranslation);
+ running = true;
+
+ Logger.recordOutput(logKey + "/Target", targetPose);
+ }
+
+ @Override
+ public void execute() {
+ val drivePose = drive.getPose();
+
+ Logger.recordOutput(
+ logKey + "/DistanceToTarget", drivePose.getTranslation().getDistance(targetTranslation));
+
+ val diffTranslation = targetTranslation.minus(drivePose.getTranslation());
+
+ Logger.recordOutput(logKey + "/vX", diffTranslation.getX());
+ Logger.recordOutput(logKey + "/vY", diffTranslation.getY());
+
+ ChassisSpeeds speeds =
+ new ChassisSpeeds(
+ diffTranslation.getX(),
+ diffTranslation.getY(),
+ targetRotation.minus(drivePose.getRotation()).getRadians());
+
+ speeds = ChassisSpeeds.fromFieldRelativeSpeeds(speeds, drive.getRotation());
+
+ drive.runVelocity(speeds);
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ running = false;
+ }
+
+ public boolean isRunning() {
+ return running;
+ }
+
+ public boolean withinTolerance(double tolerance) {
+ return drive.getPose().getTranslation().getDistance(targetTranslation) <= tolerance;
+ }
+
+ public boolean madeProgress(double progress) {
+ double newDist = drive.getPose().getTranslation().getDistance(targetTranslation);
+
+ return (initialDistance - newDist) / initialDistance >= progress;
+ }
+}
diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
new file mode 100644
index 0000000..38735d8
--- /dev/null
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -0,0 +1,264 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.commands;
+
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.autopilot.DriveToPoseCommand;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.util.AllianceFlipUtil;
+import java.text.DecimalFormat;
+import java.text.NumberFormat;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+import lombok.val;
+import org.littletonrobotics.junction.Logger;
+
+public final class DriveCommands {
+ public static final double DEADBAND = 0.1;
+ static final double DRIVE_KP = 2;
+ static final double DRIVE_KD = 0;
+ static final double ANGLE_KP = 2;
+ static final double ANGLE_KD = 0;
+ static final double ANGLE_TOLERANCE = Units.degreesToRadians(2.5);
+ static final double POSITION_TOLERANCE = 0.0125;
+ static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS =
+ new TrapezoidProfile.Constraints(8, 20);
+ static final TrapezoidProfile.Constraints DRIVE_CONSTRAINTS =
+ new TrapezoidProfile.Constraints(4.73, 5);
+ private static final double FF_START_DELAY = 2.0; // Secs
+ private static final double FF_RAMP_RATE = 0.1; // Volts/Sec
+ private static final double WHEEL_RADIUS_MAX_VELOCITY = 0.25; // Rad/Sec
+ private static final double WHEEL_RADIUS_RAMP_RATE = 0.05; // Rad/Sec^2
+
+ private DriveCommands() {}
+
+ static Translation2d getLinearVelocityFromJoysticks(double x, double y) {
+ // Apply deadband
+ double linearMagnitude = MathUtil.applyDeadband(Math.hypot(x, y), DEADBAND);
+ Rotation2d linearDirection = new Rotation2d(Math.atan2(y, x));
+
+ // Square magnitude for more precise control
+ linearMagnitude = linearMagnitude * linearMagnitude;
+
+ // Return new linear velocity
+ return new Pose2d(new Translation2d(), linearDirection)
+ .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d()))
+ .getTranslation();
+ }
+
+ /**
+ * Field relative drive command using two joysticks (controlling linear and angular velocities).
+ */
+ public static Command joystickDrive(
+ Drive drive,
+ DoubleSupplier xSupplier,
+ DoubleSupplier ySupplier,
+ DoubleSupplier omegaSupplier) {
+ return Commands.run(
+ () -> {
+ // Get linear velocity
+ Translation2d linearVelocity =
+ getLinearVelocityFromJoysticks(xSupplier.getAsDouble(), ySupplier.getAsDouble());
+
+ // Apply rotation deadband
+ double omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND);
+
+ // Square rotation value for more precise control
+ omega = Math.copySign(omega * omega, omega);
+
+ // Convert to field relative speeds & send command
+ val speeds =
+ new ChassisSpeeds(
+ linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
+ linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
+ omega * drive.getMaxAngularSpeedRadPerSec());
+ drive.runVelocity(
+ ChassisSpeeds.fromFieldRelativeSpeeds(
+ speeds,
+ AllianceFlipUtil.shouldFlip()
+ ? drive.getRotation().plus(new Rotation2d(Math.PI))
+ : drive.getRotation()));
+ },
+ drive);
+ }
+
+ public static Command driveToAutoStart(Drive drive, Supplier commandSupplier) {
+ return new DriveToPoseCommand(
+ "DriveToAuto",
+ drive,
+ () -> {
+ val cmd = commandSupplier.get();
+ if (cmd == null) return drive.getPose();
+
+ Logger.recordOutput(
+ "AutoAlign/DriveToAuto/AutoClassName", cmd.getClass().getSimpleName());
+
+ if (cmd instanceof final PathPlannerAuto auto) {
+ Logger.recordOutput("AutoAlign/DriveToAuto/CmdIsAuto", true);
+ // Return the auto starting pose
+ return auto.getStartingPose();
+ } else {
+ Logger.recordOutput("AutoAlign/DriveToAuto/CmdIsAuto", false);
+ // Drive nowhere
+ return drive.getPose();
+ }
+ });
+ }
+
+ /**
+ * Measures the velocity feedforward constants for the drive motors.
+ *
+ * This command should only be used in voltage control mode.
+ */
+ public static Command feedforwardCharacterization(Drive drive) {
+ List velocitySamples = new LinkedList<>();
+ List voltageSamples = new LinkedList<>();
+ Timer timer = new Timer();
+
+ return Commands.sequence(
+ // Reset data
+ Commands.runOnce(
+ () -> {
+ velocitySamples.clear();
+ voltageSamples.clear();
+ }),
+
+ // Allow modules to orient
+ Commands.run(
+ () -> {
+ drive.runCharacterization(0.0);
+ },
+ drive)
+ .withTimeout(FF_START_DELAY),
+
+ // Start timer
+ Commands.runOnce(timer::restart),
+
+ // Accelerate and gather data
+ Commands.run(
+ () -> {
+ double voltage = timer.get() * FF_RAMP_RATE;
+ drive.runCharacterization(voltage);
+ velocitySamples.add(drive.getFFCharacterizationVelocity());
+ voltageSamples.add(voltage);
+ },
+ drive)
+
+ // When cancelled, calculate and print results
+ .finallyDo(
+ () -> {
+ int n = velocitySamples.size();
+ double sumX = 0.0;
+ double sumY = 0.0;
+ double sumXY = 0.0;
+ double sumX2 = 0.0;
+ for (int i = 0; i < n; i++) {
+ sumX += velocitySamples.get(i);
+ sumY += voltageSamples.get(i);
+ sumXY += velocitySamples.get(i) * voltageSamples.get(i);
+ sumX2 += velocitySamples.get(i) * velocitySamples.get(i);
+ }
+ double kS = (sumY * sumX2 - sumX * sumXY) / (n * sumX2 - sumX * sumX);
+ double kV = (n * sumXY - sumX * sumY) / (n * sumX2 - sumX * sumX);
+
+ NumberFormat formatter = new DecimalFormat("#0.00000");
+ System.out.println("********** Drive FF Characterization Results **********");
+ System.out.println("\tkS: " + formatter.format(kS));
+ System.out.println("\tkV: " + formatter.format(kV));
+ }));
+ }
+
+ /** Measures the robot's wheel radius by spinning in a circle. */
+ public static Command wheelRadiusCharacterization(Drive drive) {
+ SlewRateLimiter limiter = new SlewRateLimiter(WHEEL_RADIUS_RAMP_RATE);
+ WheelRadiusCharacterizationState state = new WheelRadiusCharacterizationState();
+
+ return Commands.parallel(
+ // Drive control sequence
+ Commands.sequence(
+ // Reset acceleration limiter
+ Commands.runOnce(
+ () -> {
+ limiter.reset(0.0);
+ }),
+
+ // Turn in place, accelerating up to full speed
+ Commands.run(
+ () -> {
+ double speed = limiter.calculate(WHEEL_RADIUS_MAX_VELOCITY);
+ drive.runVelocity(new ChassisSpeeds(0.0, 0.0, speed));
+ },
+ drive)),
+
+ // Measurement sequence
+ Commands.sequence(
+ // Wait for modules to fully orient before starting measurement
+ Commands.waitSeconds(1.0),
+
+ // Record starting measurement
+ Commands.runOnce(
+ () -> {
+ state.positions = drive.getWheelRadiusCharacterizationPositions();
+ state.lastAngle = drive.getRotation();
+ state.gyroDelta = 0.0;
+ }),
+
+ // Update gyro delta
+ Commands.run(
+ () -> {
+ var rotation = drive.getRotation();
+ state.gyroDelta += Math.abs(rotation.minus(state.lastAngle).getRadians());
+ state.lastAngle = rotation;
+ })
+
+ // When cancelled, calculate and print results
+ .finallyDo(
+ () -> {
+ double[] positions = drive.getWheelRadiusCharacterizationPositions();
+ double wheelDelta = 0.0;
+ for (int i = 0; i < 4; i++) {
+ wheelDelta += Math.abs(positions[i] - state.positions[i]) / 4.0;
+ }
+ double wheelRadius = (state.gyroDelta * Drive.DRIVE_BASE_RADIUS) / wheelDelta;
+
+ NumberFormat formatter = new DecimalFormat("#0.000");
+ System.out.println(
+ "********** Wheel Radius Characterization Results **********");
+ System.out.println(
+ "\tWheel Delta: " + formatter.format(wheelDelta) + " radians");
+ System.out.println(
+ "\tGyro Delta: " + formatter.format(state.gyroDelta) + " radians");
+ System.out.println(
+ "\tWheel Radius: "
+ + formatter.format(wheelRadius)
+ + " meters, "
+ + formatter.format(Units.metersToInches(wheelRadius))
+ + " inches");
+ })));
+ }
+
+ private static class WheelRadiusCharacterizationState {
+ double[] positions = new double[4];
+ Rotation2d lastAngle = new Rotation2d();
+ double gyroDelta = 0.0;
+ }
+}
diff --git a/src/main/java/frc/robot/commands/JoystickApproachCommand.java b/src/main/java/frc/robot/commands/JoystickApproachCommand.java
new file mode 100644
index 0000000..ff43ba9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/JoystickApproachCommand.java
@@ -0,0 +1,101 @@
+package frc.robot.commands;
+
+import static frc.robot.commands.DriveCommands.*;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.Drive;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+import org.littletonrobotics.junction.Logger;
+
+public final class JoystickApproachCommand extends Command {
+ private final Drive drive;
+ private final DoubleSupplier ySupplier;
+ private final Supplier targetSupplier;
+
+ private Pose2d targetPose2d;
+ private Pose2d relativePose2d;
+ private Rotation2d targetRotation2d;
+
+ boolean running = false;
+
+ static final double DEADBAND = 0.1;
+
+ private final ProfiledPIDController angleController =
+ new ProfiledPIDController(ANGLE_KP, 0, ANGLE_KD, ANGLE_CONSTRAINTS);
+
+ private final ProfiledPIDController alignController =
+ new ProfiledPIDController(DRIVE_KP, 0, DRIVE_KD, DRIVE_CONSTRAINTS);
+
+ public JoystickApproachCommand(
+ Drive drive, DoubleSupplier ySupplier, Supplier targetSupplier) {
+ this.drive = drive;
+ this.ySupplier = ySupplier;
+ this.targetSupplier = targetSupplier;
+
+ alignController.setTolerance(POSITION_TOLERANCE);
+ angleController.setTolerance(ANGLE_TOLERANCE);
+
+ angleController.enableContinuousInput(-Math.PI, Math.PI);
+ alignController.setGoal(0);
+
+ addRequirements(drive);
+ }
+
+ // Called when the command is initially scheduled.
+ @Override
+ public void initialize() {
+ alignController.reset(0);
+ angleController.reset(drive.getPose().getRotation().getRadians());
+ targetPose2d = targetSupplier.get();
+
+ Logger.recordOutput("AutoAlign/Approach/Target", targetPose2d);
+ }
+
+ // Called every time the scheduler runs while the command is scheduled.
+ @Override
+ public void execute() {
+ running = true;
+ relativePose2d = drive.getPose().relativeTo(targetPose2d);
+ targetRotation2d = targetPose2d.getRotation();
+
+ // Calculate lateral linear velocity
+ Translation2d offsetVector =
+ new Translation2d(0, alignController.calculate(relativePose2d.getY()));
+
+ // Calculate total linear velocity
+ Translation2d linearVelocity =
+ getLinearVelocityFromJoysticks(-ySupplier.getAsDouble(), 0)
+ .div(2)
+ .times(drive.getMaxLinearSpeedMetersPerSec())
+ .plus(offsetVector)
+ .rotateBy(targetRotation2d);
+
+ // Calculate angular speed
+ double omega =
+ angleController.calculate(
+ drive.getRotation().getRadians(),
+ targetRotation2d.rotateBy(Rotation2d.k180deg).getRadians());
+
+ // Convert to field relative speeds & send command
+ ChassisSpeeds speeds = new ChassisSpeeds(linearVelocity.getX(), linearVelocity.getY(), omega);
+
+ drive.runVelocity(ChassisSpeeds.fromFieldRelativeSpeeds(speeds, drive.getRotation()));
+ }
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {
+ running = false;
+ }
+
+ // Returns true when withing a lateral tolerance
+ public boolean withinTolerance(double dist) {
+ return running ? Math.abs(relativePose2d.getY()) < dist : false;
+ }
+}
diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
new file mode 100644
index 0000000..ba310eb
--- /dev/null
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -0,0 +1,306 @@
+package frc.robot.generated;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.hardware.*;
+import com.ctre.phoenix6.signals.*;
+import com.ctre.phoenix6.swerve.*;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.units.measure.*;
+
+// Generated by the Tuner X Swerve Project Generator
+// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
+public final class TunerConstants {
+ // Both sets of gains need to be tuned to your individual robot.
+
+ // The steer motor uses any SwerveModule.SteerRequestType control request with the
+ // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+ private static final Slot0Configs steerGains =
+ new Slot0Configs()
+ .withKP(500)
+ .withKI(0)
+ .withKD(50)
+ .withKS(0.8595)
+ .withKV(1.438)
+ .withKA(0)
+ .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+ // When using closed-loop control, the drive motor uses the control
+ // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
+ private static final Slot0Configs driveGains =
+ new Slot0Configs().withKP(60).withKI(0).withKD(0).withKS(2.16).withKV(0);
+
+ // The closed-loop output type to use for the steer motors;
+ // This affects the PID/FF gains for the steer motors
+ private static final ClosedLoopOutputType kSteerClosedLoopOutput =
+ ClosedLoopOutputType.TorqueCurrentFOC;
+ // The closed-loop output type to use for the drive motors;
+ // This affects the PID/FF gains for the drive motors
+ private static final ClosedLoopOutputType kDriveClosedLoopOutput =
+ ClosedLoopOutputType.TorqueCurrentFOC;
+
+ // The type of motor used for the drive motor
+ private static final DriveMotorArrangement kDriveMotorType =
+ DriveMotorArrangement.TalonFX_Integrated;
+ // The type of motor used for the drive motor
+ private static final SteerMotorArrangement kSteerMotorType =
+ SteerMotorArrangement.TalonFX_Integrated;
+
+ // The remote sensor feedback type to use for the steer motors;
+ // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
+ private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
+
+ // The stator current at which the wheels start to slip;
+ // This needs to be tuned to your individual robot
+ private static final Current kSlipCurrent = Amps.of(120.0);
+
+ // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
+ // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
+ private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
+ private static final TalonFXConfiguration steerInitialConfigs =
+ new TalonFXConfiguration()
+ .withCurrentLimits(
+ new CurrentLimitsConfigs()
+ // Swerve azimuth does not require much torque output, so we can set a relatively
+ // low
+ // stator current limit to help avoid brownouts without impacting performance.
+ .withStatorCurrentLimit(Amps.of(60))
+ .withStatorCurrentLimitEnable(true));
+ private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
+ // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
+ private static final Pigeon2Configuration pigeonConfigs = null;
+
+ // CAN bus that the devices are located on;
+ // All swerve devices must share the same CAN bus
+ public static final CANBus kCANBus = new CANBus("canivore0");
+
+ // Theoretical free speed (m/s) at 12 V applied output;
+ // This needs to be tuned to your individual robot
+ public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(1);
+
+ // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
+ // This may need to be tuned to your individual robot
+ private static final double kCoupleRatio = 3.5714285714285716;
+
+ private static final double kDriveGearRatio = 6.746031746031747;
+ private static final double kSteerGearRatio = 21.428571428571427;
+ private static final Distance kWheelRadius = Inches.of(2);
+
+ private static final boolean kInvertLeftSide = false;
+ private static final boolean kInvertRightSide = true;
+
+ private static final int kPigeonId = 0;
+
+ // These are only used for simulation
+ private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
+ private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
+ // Simulated voltage necessary to overcome friction
+ private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
+ private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
+
+ public static final SwerveDrivetrainConstants DrivetrainConstants =
+ new SwerveDrivetrainConstants()
+ .withCANBusName(kCANBus.getName())
+ .withPigeon2Id(kPigeonId)
+ .withPigeon2Configs(pigeonConfigs);
+
+ private static final SwerveModuleConstantsFactory<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ ConstantCreator =
+ new SwerveModuleConstantsFactory<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
+ .withDriveMotorGearRatio(kDriveGearRatio)
+ .withSteerMotorGearRatio(kSteerGearRatio)
+ .withCouplingGearRatio(kCoupleRatio)
+ .withWheelRadius(kWheelRadius)
+ .withSteerMotorGains(steerGains)
+ .withDriveMotorGains(driveGains)
+ .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
+ .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
+ .withSlipCurrent(kSlipCurrent)
+ .withSpeedAt12Volts(kSpeedAt12Volts)
+ .withDriveMotorType(kDriveMotorType)
+ .withSteerMotorType(kSteerMotorType)
+ .withFeedbackSource(kSteerFeedbackType)
+ .withDriveMotorInitialConfigs(driveInitialConfigs)
+ .withSteerMotorInitialConfigs(steerInitialConfigs)
+ .withEncoderInitialConfigs(encoderInitialConfigs)
+ .withSteerInertia(kSteerInertia)
+ .withDriveInertia(kDriveInertia)
+ .withSteerFrictionVoltage(kSteerFrictionVoltage)
+ .withDriveFrictionVoltage(kDriveFrictionVoltage);
+
+ // Front Left
+ private static final int kFrontLeftDriveMotorId = 0;
+ private static final int kFrontLeftSteerMotorId = 1;
+ private static final int kFrontLeftEncoderId = 0;
+ private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.49609375);
+ private static final boolean kFrontLeftSteerMotorInverted = true;
+ private static final boolean kFrontLeftEncoderInverted = false;
+
+ private static final Distance kFrontLeftXPos = Inches.of(11.8645);
+ private static final Distance kFrontLeftYPos = Inches.of(11.8645);
+
+ // Front Right
+ private static final int kFrontRightDriveMotorId = 4;
+ private static final int kFrontRightSteerMotorId = 5;
+ private static final int kFrontRightEncoderId = 2;
+ private static final Angle kFrontRightEncoderOffset = Rotations.of(0.26904296875);
+ private static final boolean kFrontRightSteerMotorInverted = true;
+ private static final boolean kFrontRightEncoderInverted = false;
+
+ private static final Distance kFrontRightXPos = Inches.of(11.8645);
+ private static final Distance kFrontRightYPos = Inches.of(-11.8645);
+
+ // Back Left
+ private static final int kBackLeftDriveMotorId = 2;
+ private static final int kBackLeftSteerMotorId = 3;
+ private static final int kBackLeftEncoderId = 1;
+ private static final Angle kBackLeftEncoderOffset = Rotations.of(0.34912109375);
+ private static final boolean kBackLeftSteerMotorInverted = true;
+ private static final boolean kBackLeftEncoderInverted = false;
+
+ private static final Distance kBackLeftXPos = Inches.of(-11.8645);
+ private static final Distance kBackLeftYPos = Inches.of(11.8645);
+
+ // Back Right
+ private static final int kBackRightDriveMotorId = 6;
+ private static final int kBackRightSteerMotorId = 7;
+ private static final int kBackRightEncoderId = 4;
+ private static final Angle kBackRightEncoderOffset = Rotations.of(0.38232421875);
+ private static final boolean kBackRightSteerMotorInverted = true;
+ private static final boolean kBackRightEncoderInverted = false;
+
+ private static final Distance kBackRightXPos = Inches.of(-11.8645);
+ private static final Distance kBackRightYPos = Inches.of(-11.8645);
+
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ FrontLeft =
+ ConstantCreator.createModuleConstants(
+ kFrontLeftSteerMotorId,
+ kFrontLeftDriveMotorId,
+ kFrontLeftEncoderId,
+ kFrontLeftEncoderOffset,
+ kFrontLeftXPos,
+ kFrontLeftYPos,
+ kInvertLeftSide,
+ kFrontLeftSteerMotorInverted,
+ kFrontLeftEncoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ FrontRight =
+ ConstantCreator.createModuleConstants(
+ kFrontRightSteerMotorId,
+ kFrontRightDriveMotorId,
+ kFrontRightEncoderId,
+ kFrontRightEncoderOffset,
+ kFrontRightXPos,
+ kFrontRightYPos,
+ kInvertRightSide,
+ kFrontRightSteerMotorInverted,
+ kFrontRightEncoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ BackLeft =
+ ConstantCreator.createModuleConstants(
+ kBackLeftSteerMotorId,
+ kBackLeftDriveMotorId,
+ kBackLeftEncoderId,
+ kBackLeftEncoderOffset,
+ kBackLeftXPos,
+ kBackLeftYPos,
+ kInvertLeftSide,
+ kBackLeftSteerMotorInverted,
+ kBackLeftEncoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ BackRight =
+ ConstantCreator.createModuleConstants(
+ kBackRightSteerMotorId,
+ kBackRightDriveMotorId,
+ kBackRightEncoderId,
+ kBackRightEncoderOffset,
+ kBackRightXPos,
+ kBackRightYPos,
+ kInvertRightSide,
+ kBackRightSteerMotorInverted,
+ kBackRightEncoderInverted);
+
+ /** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */
+ public static class TunerSwerveDrivetrain extends SwerveDrivetrain {
+ /**
+ * Constructs a CTRE SwerveDrivetrain using the specified constants.
+ *
+ * This constructs the underlying hardware devices, so users should not construct the devices
+ * themselves. If they need the devices, they can access them through getters in the classes.
+ *
+ * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
+ * @param modules Constants for each specific module
+ */
+ public TunerSwerveDrivetrain(
+ SwerveDrivetrainConstants drivetrainConstants, SwerveModuleConstants... modules) {
+ super(TalonFX::new, TalonFX::new, CANcoder::new, drivetrainConstants, modules);
+ }
+
+ /**
+ * Constructs a CTRE SwerveDrivetrain using the specified constants.
+ *
+ *
This constructs the underlying hardware devices, so users should not construct the devices
+ * themselves. If they need the devices, they can access them through getters in the classes.
+ *
+ * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
+ * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
+ * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
+ * @param modules Constants for each specific module
+ */
+ public TunerSwerveDrivetrain(
+ SwerveDrivetrainConstants drivetrainConstants,
+ double odometryUpdateFrequency,
+ SwerveModuleConstants... modules) {
+ super(
+ TalonFX::new,
+ TalonFX::new,
+ CANcoder::new,
+ drivetrainConstants,
+ odometryUpdateFrequency,
+ modules);
+ }
+
+ /**
+ * Constructs a CTRE SwerveDrivetrain using the specified constants.
+ *
+ *
This constructs the underlying hardware devices, so users should not construct the devices
+ * themselves. If they need the devices, they can access them through getters in the classes.
+ *
+ * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
+ * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
+ * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
+ * @param odometryStandardDeviation The standard deviation for odometry calculation in the form
+ * [x, y, theta]áµ€, with units in meters and radians
+ * @param visionStandardDeviation The standard deviation for vision calculation in the form [x,
+ * y, theta]áµ€, with units in meters and radians
+ * @param modules Constants for each specific module
+ */
+ public TunerSwerveDrivetrain(
+ SwerveDrivetrainConstants drivetrainConstants,
+ double odometryUpdateFrequency,
+ Matrix odometryStandardDeviation,
+ Matrix visionStandardDeviation,
+ SwerveModuleConstants... modules) {
+ super(
+ TalonFX::new,
+ TalonFX::new,
+ CANcoder::new,
+ drivetrainConstants,
+ odometryUpdateFrequency,
+ odometryStandardDeviation,
+ visionStandardDeviation,
+ modules);
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java
new file mode 100644
index 0000000..37c8ff2
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Superstructure.java
@@ -0,0 +1,38 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.algae_arm.AlgaeArm;
+import frc.robot.subsystems.elevator.Elevator;
+import frc.robot.subsystems.elevator.Elevator.Setpoint;
+import frc.robot.subsystems.end_effector.EndEffector;
+
+public final class Superstructure {
+ private final EndEffector endEffector;
+ private final Elevator elevator;
+ private final AlgaeArm algaeArm;
+
+ public Superstructure(EndEffector endEffector, Elevator elevator, AlgaeArm algaeArm) {
+ this.endEffector = endEffector;
+ this.elevator = elevator;
+ this.algaeArm = algaeArm;
+ }
+
+ public Command bargeShot() {
+ return Commands.parallel(
+ elevator.setTarget(Setpoint.Barge),
+ Commands.waitSeconds(0.15).andThen(endEffector.scoreBarge(), algaeArm.stow()));
+ }
+
+ public Command scoreCoral(boolean inAuto) {
+ if (inAuto) {
+ return endEffector.autoScoreCoral(elevator.isAtSetpoint);
+ } else {
+ return endEffector.teleScoreCoral(elevator::shouldEjectFast);
+ }
+ }
+
+ public Command algaeMode() {
+ return endEffector.intakeAlgae().alongWith(algaeArm.deploy());
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArm.java b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArm.java
new file mode 100644
index 0000000..5a6327c
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArm.java
@@ -0,0 +1,68 @@
+package frc.robot.subsystems.algae_arm;
+
+import static edu.wpi.first.units.Units.Rotations;
+import static frc.robot.subsystems.algae_arm.AlgaeArmConstants.*;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.util.io.talon.TalonFXIO;
+import frc.robot.util.io.talon.TalonFXIOImpl;
+import frc.robot.util.io.talon.TalonFXIOInputsAutoLogged;
+import org.littletonrobotics.junction.Logger;
+
+public class AlgaeArm extends SubsystemBase {
+ private final TalonFXIO io;
+ private final TalonFXIOInputsAutoLogged inputs = new TalonFXIOInputsAutoLogged();
+
+ private final Trigger hasDeployed =
+ new Trigger(
+ () -> MathUtil.isNear(inputs.position.in(Rotations), DEPLOYED_ANGLE.in(Rotations), 0.01));
+
+ private final Trigger hasStowed =
+ new Trigger(
+ () -> MathUtil.isNear(inputs.position.in(Rotations), DEPLOYED_ANGLE.in(Rotations), 0.01));
+
+ public AlgaeArm(TalonFXIO motorIO) {
+ io = motorIO;
+
+ setDefaultCommand(stow());
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+
+ Logger.processInputs("AlgaeArm/Motor", inputs);
+ }
+
+ public static AlgaeArm createReal() {
+ return new AlgaeArm(new TalonFXIOImpl(MOTOR_ID, MOTOR_BUS, MOTOR_CONFIG));
+ }
+
+ public static AlgaeArm createSim() {
+ return new AlgaeArm(new AlgaeArmIOSim());
+ }
+
+ public Command deploy() {
+ return Commands.sequence(
+ runOnce(() -> io.setDutyCycle(1)),
+ Commands.waitUntil(hasDeployed),
+ runOnce(() -> io.stopMotor()))
+ .withName("Deploy Algae Arm");
+ }
+
+ public Command drop() {
+ return runOnce(this::removeDefaultCommand).andThen(deploy()).withName("Drop Algae Arm");
+ }
+
+ public Command stow() {
+ return Commands.sequence(
+ runOnce(() -> io.setDutyCycle(-1)),
+ Commands.waitUntil(hasStowed),
+ runOnce(() -> io.stopMotor()))
+ .withName("Stow Algae Arm");
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmConstants.java b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmConstants.java
new file mode 100644
index 0000000..aaad1cd
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmConstants.java
@@ -0,0 +1,58 @@
+package frc.robot.subsystems.algae_arm;
+
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Rotations;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Distance;
+import frc.robot.Constants;
+
+public final class AlgaeArmConstants {
+ public static final int MOTOR_ID = 21;
+ public static final CANBus MOTOR_BUS = Constants.kRIOBus;
+ public static final int SYSTEM_REDUCTION = 25;
+
+ public static final Angle STOWED_ANGLE = Rotations.of(0);
+ public static final Angle DEPLOYED_ANGLE = Rotations.of(0.283);
+ // TODO: CORRECT THIS VALUE WITH CAD
+ public static final Distance kArmLength = Inches.of(9);
+ // TODO: CORRECT THIS VALUE (ASK BRENNAN/MARK)
+ public static final double kMoi = 0.4;
+
+ public static final CurrentLimitsConfigs CURRENT_LIMITS =
+ new CurrentLimitsConfigs()
+ .withStatorCurrentLimit(Amps.of(10))
+ .withStatorCurrentLimitEnable(true)
+ .withSupplyCurrentLimit(Amps.of(40))
+ .withSupplyCurrentLimitEnable(true);
+ public static final FeedbackConfigs FEEDBACK_CONFIGS =
+ new FeedbackConfigs().withSensorToMechanismRatio(SYSTEM_REDUCTION);
+ public static final MotorOutputConfigs MOTOR_OUTPUT =
+ new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake);
+ public static final Slot0Configs SLOT_0 =
+ new Slot0Configs()
+ .withKP(10)
+ .withKI(0)
+ .withKD(1)
+ .withKS(0)
+ .withKV(1)
+ .withKA(0.05)
+ .withKG(0.5)
+ .withGravityType(GravityTypeValue.Arm_Cosine);
+
+ public static final TalonFXConfiguration MOTOR_CONFIG =
+ new TalonFXConfiguration()
+ .withCurrentLimits(CURRENT_LIMITS)
+ .withFeedback(FEEDBACK_CONFIGS)
+ .withMotorOutput(MOTOR_OUTPUT)
+ .withSlot0(SLOT_0);
+}
diff --git a/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmIOSim.java b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmIOSim.java
new file mode 100644
index 0000000..dd58b2f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_arm/AlgaeArmIOSim.java
@@ -0,0 +1,55 @@
+package frc.robot.subsystems.algae_arm;
+
+import static edu.wpi.first.units.Units.*;
+import static frc.robot.subsystems.algae_arm.AlgaeArmConstants.*;
+
+import com.ctre.phoenix6.sim.TalonFXSimState;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
+import frc.robot.util.io.talon.TalonFXIOImpl;
+
+public class AlgaeArmIOSim extends TalonFXIOImpl {
+ private final SingleJointedArmSim physicsSim;
+ private final TalonFXSimState simState;
+ private double lastTimestamp = Timer.getTimestamp();
+
+ public AlgaeArmIOSim() {
+ super(MOTOR_ID, MOTOR_BUS, MOTOR_CONFIG);
+ simState = talon.getSimState();
+
+ DCMotor motor = DCMotor.getKrakenX60Foc(1).withReduction(25);
+ // the reduction is already accounted for, so set it to 1
+ var linearSystem = LinearSystemId.createSingleJointedArmSystem(motor, kMoi, 1);
+ physicsSim =
+ new SingleJointedArmSim(
+ linearSystem,
+ motor,
+ 1,
+ kArmLength.in(Meters),
+ STOWED_ANGLE.in(Radians),
+ DEPLOYED_ANGLE.in(Radians),
+ true,
+ 0);
+ }
+
+ @Override
+ public void updateInputs(TalonFXIOInputs inputs) {
+ simState.setSupplyVoltage(RobotController.getBatteryVoltage());
+ physicsSim.setInputVoltage(simState.getMotorVoltage());
+
+ double newTimestamp = Timer.getTimestamp();
+ physicsSim.update(newTimestamp - lastTimestamp);
+ lastTimestamp = newTimestamp;
+
+ double rotorPosition = Units.radiansToRotations(physicsSim.getAngleRads());
+ simState.setRawRotorPosition(rotorPosition);
+ double rotorVelocity = Units.radiansToRotations(physicsSim.getVelocityRadPerSec());
+ simState.setRotorVelocity(rotorVelocity);
+
+ super.updateInputs(inputs);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/climber/Climber.java b/src/main/java/frc/robot/subsystems/climber/Climber.java
new file mode 100644
index 0000000..3dffd0e
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/Climber.java
@@ -0,0 +1,36 @@
+package frc.robot.subsystems.climber;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
+
+public class Climber extends SubsystemBase {
+ private final ClimberIO io;
+ private final ClimberIOInputsAutoLogged inputs = new ClimberIOInputsAutoLogged();
+
+ public Climber(ClimberIO io) {
+ this.io = io;
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+
+ Logger.processInputs("Climber", inputs);
+ }
+
+ public Command deploy() {
+ return runOnce(io::deploy)
+ .andThen(Commands.idle(this))
+ .finallyDo(io::stop)
+ .withName("Deploy Climber");
+ }
+
+ public Command retract() {
+ return runOnce(io::retract)
+ .andThen(Commands.idle(this))
+ .finallyDo(io::stop)
+ .withName("Retract Climber");
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java
new file mode 100644
index 0000000..2ec08fe
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java
@@ -0,0 +1,22 @@
+package frc.robot.subsystems.climber;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc.robot.Constants;
+
+public class ClimberConstants {
+ public static final int MOTOR_ID = 30;
+ public static final int SERVO_ID = 0;
+ public static final CANBus MOTOR_BUS = Constants.kCanivore;
+
+ public static final TalonFXConfiguration MOTOR_CONFIG =
+ new TalonFXConfiguration()
+ .withMotorOutput(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake))
+ .withCurrentLimits(
+ new CurrentLimitsConfigs()
+ .withStatorCurrentLimit(40)
+ .withStatorCurrentLimitEnable(true));
+}
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/src/main/java/frc/robot/subsystems/climber/ClimberIO.java
new file mode 100644
index 0000000..01a3c51
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberIO.java
@@ -0,0 +1,27 @@
+package frc.robot.subsystems.climber;
+
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import org.littletonrobotics.junction.AutoLog;
+
+@FunctionalInterface
+public interface ClimberIO {
+ @AutoLog
+ public static class ClimberIOInputs {
+ public boolean connected;
+
+ public AngularVelocity motorSpeed = RotationsPerSecond.zero();
+ public Angle servoSetpoint = Degrees.zero();
+ }
+
+ public void updateInputs(ClimberIOInputs inputs);
+
+ public default void deploy() {}
+
+ public default void retract() {}
+
+ public default void stop() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
new file mode 100644
index 0000000..522c10d
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
@@ -0,0 +1,48 @@
+package frc.robot.subsystems.climber;
+
+import static edu.wpi.first.units.Units.Degrees;
+import static frc.robot.subsystems.climber.ClimberConstants.*;
+import static frc.robot.util.phoenix.PhoenixUtil.tryUntilOk;
+
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj.Servo;
+
+public class ClimberIOReal implements ClimberIO {
+ private final Servo servo = new Servo(SERVO_ID);
+ private final TalonFX talon = new TalonFX(MOTOR_ID, MOTOR_BUS);
+ private final StatusSignal velocity = talon.getVelocity();
+
+ public ClimberIOReal() {
+ tryUntilOk(5, () -> talon.getConfigurator().apply(MOTOR_CONFIG));
+ velocity.setUpdateFrequency(100);
+ talon.optimizeBusUtilization();
+ }
+
+ @Override
+ public void updateInputs(ClimberIOInputs inputs) {
+ velocity.refresh();
+
+ inputs.connected = velocity.getStatus().isOK();
+ inputs.motorSpeed = velocity.getValue();
+ inputs.servoSetpoint = Degrees.of(servo.getAngle());
+ }
+
+ @Override
+ public void deploy() {
+ servo.setAngle(80);
+ talon.set(-1);
+ }
+
+ @Override
+ public void retract() {
+ talon.set(1);
+ }
+
+ @Override
+ public void stop() {
+ talon.stopMotor();
+ servo.setAngle(50);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
new file mode 100644
index 0000000..351198c
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -0,0 +1,393 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.CANBus;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.ModuleConfig;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.pathfinding.Pathfinding;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Twist2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.Constants;
+import frc.robot.Constants.Mode;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.vision.Vision.VisionConsumer;
+import frc.robot.util.LocalADStarAK;
+import frc.robot.util.Statics;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
+public class Drive extends SubsystemBase implements VisionConsumer {
+ // TunerConstants doesn't include these constants, so they are declared locally
+ static final double ODOMETRY_FREQUENCY =
+ new CANBus(TunerConstants.DrivetrainConstants.CANBusName).isNetworkFD() ? 250.0 : 100.0;
+ public static final double DRIVE_BASE_RADIUS =
+ Math.max(
+ Math.max(
+ Math.hypot(TunerConstants.FrontLeft.LocationX, TunerConstants.FrontLeft.LocationY),
+ Math.hypot(TunerConstants.FrontRight.LocationX, TunerConstants.FrontRight.LocationY)),
+ Math.max(
+ Math.hypot(TunerConstants.BackLeft.LocationX, TunerConstants.BackLeft.LocationY),
+ Math.hypot(TunerConstants.BackRight.LocationX, TunerConstants.BackRight.LocationY)));
+
+ // PathPlanner config constants
+ private static final double ROBOT_MASS_KG = Units.lbsToKilograms(140);
+ private static final double ROBOT_MOI = 6.883;
+ private static final double WHEEL_COF = 1.2;
+ private static final RobotConfig PP_CONFIG =
+ Statics.initOrDefault(
+ RobotConfig::fromGUISettings,
+ () ->
+ new RobotConfig(
+ ROBOT_MASS_KG,
+ ROBOT_MOI,
+ new ModuleConfig(
+ TunerConstants.FrontLeft.WheelRadius,
+ TunerConstants.kSpeedAt12Volts.in(MetersPerSecond),
+ WHEEL_COF,
+ DCMotor.getKrakenX60Foc(1)
+ .withReduction(TunerConstants.FrontLeft.DriveMotorGearRatio),
+ TunerConstants.FrontLeft.SlipCurrent,
+ 2),
+ getModuleTranslations()));
+ public static final PathConstraints PP_CONSTRAINTS =
+ new PathConstraints(
+ MetersPerSecond.of(4.73),
+ MetersPerSecondPerSecond.of(5),
+ DegreesPerSecond.of(540),
+ DegreesPerSecondPerSecond.of(720),
+ Volts.of(12));
+
+ static final Lock odometryLock = new ReentrantLock();
+ private final GyroIO gyroIO;
+ private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
+ private final Module[] modules = new Module[4]; // FL, FR, BL, BR
+ private final SysIdRoutine sysId;
+ private final Alert gyroDisconnectedAlert =
+ new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError);
+
+ private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());
+ private Rotation2d rawGyroRotation = Rotation2d.kZero;
+ private SwerveModulePosition[] lastModulePositions = // For delta tracking
+ new SwerveModulePosition[] {
+ new SwerveModulePosition(),
+ new SwerveModulePosition(),
+ new SwerveModulePosition(),
+ new SwerveModulePosition()
+ };
+ private SwerveDrivePoseEstimator poseEstimator =
+ new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, Pose2d.kZero);
+
+ public Drive(
+ GyroIO gyroIO,
+ ModuleIO flModuleIO,
+ ModuleIO frModuleIO,
+ ModuleIO blModuleIO,
+ ModuleIO brModuleIO) {
+ this.gyroIO = gyroIO;
+ modules[0] = new Module(flModuleIO, 0, TunerConstants.FrontLeft);
+ modules[1] = new Module(frModuleIO, 1, TunerConstants.FrontRight);
+ modules[2] = new Module(blModuleIO, 2, TunerConstants.BackLeft);
+ modules[3] = new Module(brModuleIO, 3, TunerConstants.BackRight);
+
+ // Usage reporting for swerve template
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDriveSwerve_AdvantageKit);
+
+ // Start odometry thread
+ PhoenixOdometryThread.getInstance().start();
+
+ // Configure AutoBuilder for PathPlanner
+ AutoBuilder.configure(
+ this::getPose,
+ this::setPoseIfSim,
+ this::getChassisSpeeds,
+ this::runVelocity,
+ new PPHolonomicDriveController(
+ new PIDConstants(6.0, 0.0, 0.0), new PIDConstants(5.0, 0.0, 0.0)),
+ PP_CONFIG,
+ () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+ this);
+
+ Pathfinding.setPathfinder(new LocalADStarAK());
+ PathPlannerLogging.setLogActivePathCallback(
+ (activePath) -> {
+ Logger.recordOutput(
+ "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
+ });
+ PathPlannerLogging.setLogTargetPoseCallback(
+ (targetPose) -> {
+ Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
+ });
+
+ // Configure SysId
+ sysId =
+ new SysIdRoutine(
+ new SysIdRoutine.Config(
+ null,
+ null,
+ null,
+ (state) -> Logger.recordOutput("Drive/SysIdState", state.toString())),
+ new SysIdRoutine.Mechanism(
+ (voltage) -> runCharacterization(voltage.in(Volts)), null, this));
+
+ SmartDashboard.putData("Swerve Drive", new SwerveWidget(this));
+ }
+
+ @Override
+ public void periodic() {
+ odometryLock.lock(); // Prevents odometry updates while reading data
+ gyroIO.updateInputs(gyroInputs);
+ Logger.processInputs("Drive/Gyro", gyroInputs);
+ for (var module : modules) {
+ module.periodic();
+ }
+ odometryLock.unlock();
+
+ // Stop moving when disabled
+ if (DriverStation.isDisabled()) {
+ for (var module : modules) {
+ module.stop();
+ }
+ }
+
+ // Log empty setpoint states when disabled
+ if (DriverStation.isDisabled()) {
+ Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {});
+ Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {});
+ }
+
+ // Update odometry
+ double[] sampleTimestamps =
+ modules[0].getOdometryTimestamps(); // All signals are sampled together
+ int sampleCount = sampleTimestamps.length;
+ for (int i = 0; i < sampleCount; i++) {
+ // Read wheel positions and deltas from each module
+ SwerveModulePosition[] modulePositions = new SwerveModulePosition[4];
+ SwerveModulePosition[] moduleDeltas = new SwerveModulePosition[4];
+ for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) {
+ modulePositions[moduleIndex] = modules[moduleIndex].getOdometryPositions()[i];
+ moduleDeltas[moduleIndex] =
+ new SwerveModulePosition(
+ modulePositions[moduleIndex].distanceMeters
+ - lastModulePositions[moduleIndex].distanceMeters,
+ modulePositions[moduleIndex].angle);
+ lastModulePositions[moduleIndex] = modulePositions[moduleIndex];
+ }
+
+ // Update gyro angle
+ if (gyroInputs.connected) {
+ // Use the real gyro angle
+ rawGyroRotation = gyroInputs.odometryYawPositions[i];
+ } else {
+ // Use the angle delta from the kinematics and module deltas
+ Twist2d twist = kinematics.toTwist2d(moduleDeltas);
+ rawGyroRotation = rawGyroRotation.plus(new Rotation2d(twist.dtheta));
+ }
+
+ // Apply update
+ poseEstimator.updateWithTime(sampleTimestamps[i], rawGyroRotation, modulePositions);
+ }
+
+ // Update gyro alert
+ gyroDisconnectedAlert.set(!gyroInputs.connected && Constants.currentMode != Mode.SIM);
+ }
+
+ /**
+ * Runs the drive at the desired velocity.
+ *
+ * @param speeds Speeds in meters/second
+ */
+ public void runVelocity(ChassisSpeeds speeds) {
+ // Calculate module setpoints
+ ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02);
+ SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
+ SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, TunerConstants.kSpeedAt12Volts);
+
+ // Log unoptimized setpoints and setpoint speeds
+ Logger.recordOutput("SwerveStates/Setpoints", setpointStates);
+ Logger.recordOutput("SwerveChassisSpeeds/Setpoints", discreteSpeeds);
+
+ // Send setpoints to modules
+ for (int i = 0; i < 4; i++) {
+ modules[i].runSetpoint(setpointStates[i]);
+ }
+
+ // Log optimized setpoints (runSetpoint mutates each state)
+ Logger.recordOutput("SwerveStates/SetpointsOptimized", setpointStates);
+ }
+
+ public void runFieldCentric(ChassisSpeeds speeds) {
+ runVelocity(ChassisSpeeds.fromFieldRelativeSpeeds(speeds, getRotation()));
+ }
+
+ /** Runs the drive in a straight line with the specified drive output. */
+ public void runCharacterization(double output) {
+ for (int i = 0; i < 4; i++) {
+ modules[i].runCharacterization(output);
+ }
+ }
+
+ /** Stops the drive. */
+ public void stop() {
+ runVelocity(new ChassisSpeeds());
+ }
+
+ /**
+ * Stops the drive and turns the modules to an X arrangement to resist movement. The modules will
+ * return to their normal orientations the next time a nonzero velocity is requested.
+ */
+ public void stopWithX() {
+ Rotation2d[] headings = new Rotation2d[4];
+ for (int i = 0; i < 4; i++) {
+ headings[i] = getModuleTranslations()[i].getAngle();
+ }
+ kinematics.resetHeadings(headings);
+ stop();
+ }
+
+ /** Returns a command to run a quasistatic test in the specified direction. */
+ public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
+ return run(() -> runCharacterization(0.0))
+ .withTimeout(1.0)
+ .andThen(sysId.quasistatic(direction));
+ }
+
+ /** Returns a command to run a dynamic test in the specified direction. */
+ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
+ return run(() -> runCharacterization(0.0)).withTimeout(1.0).andThen(sysId.dynamic(direction));
+ }
+
+ /** Returns the module states (turn angles and drive velocities) for all of the modules. */
+ @AutoLogOutput(key = "SwerveStates/Measured")
+ SwerveModuleState[] getModuleStates() {
+ SwerveModuleState[] states = new SwerveModuleState[4];
+ for (int i = 0; i < 4; i++) {
+ states[i] = modules[i].getState();
+ }
+ return states;
+ }
+
+ /** Returns the module positions (turn angles and drive positions) for all of the modules. */
+ SwerveModulePosition[] getModulePositions() {
+ SwerveModulePosition[] states = new SwerveModulePosition[4];
+ for (int i = 0; i < 4; i++) {
+ states[i] = modules[i].getPosition();
+ }
+ return states;
+ }
+
+ /** Returns the measured chassis speeds of the robot. */
+ @AutoLogOutput(key = "SwerveChassisSpeeds/Measured")
+ private ChassisSpeeds getChassisSpeeds() {
+ return kinematics.toChassisSpeeds(getModuleStates());
+ }
+
+ /** Returns the position of each module in radians. */
+ public double[] getWheelRadiusCharacterizationPositions() {
+ double[] values = new double[4];
+ for (int i = 0; i < 4; i++) {
+ values[i] = modules[i].getWheelRadiusCharacterizationPosition();
+ }
+ return values;
+ }
+
+ /** Returns the average velocity of the modules in rotations/second (Phoenix native units). */
+ public double getFFCharacterizationVelocity() {
+ double output = 0.0;
+ for (int i = 0; i < 4; i++) {
+ output += modules[i].getFFCharacterizationVelocity();
+ }
+ return output / 4;
+ }
+
+ /** Returns the current odometry pose. */
+ @AutoLogOutput(key = "Odometry/Robot")
+ public Pose2d getPose() {
+ return poseEstimator.getEstimatedPosition();
+ }
+
+ public Pose2d getPoseAtTime(double timestamp) {
+ return poseEstimator.sampleAt(timestamp).orElseGet(this::getPose);
+ }
+
+ /** Returns the current odometry rotation. */
+ public Rotation2d getRotation() {
+ return getPose().getRotation();
+ }
+
+ /** Resets the current odometry pose. */
+ public void setPose(Pose2d pose) {
+ poseEstimator.resetPosition(rawGyroRotation, getModulePositions(), pose);
+ }
+
+ /** Resets the current odometry pose if in simulation */
+ public void setPoseIfSim(Pose2d pose) {
+ if (RobotBase.isSimulation()) {
+ setPose(pose);
+ }
+ }
+
+ @Override
+ /** Adds a new timestamped vision measurement. */
+ public void addVisionMeasurement(Pose2d pose, double timestamp, Matrix stdDevs) {
+ poseEstimator.addVisionMeasurement(pose, timestamp, stdDevs);
+ }
+
+ /** Returns the maximum linear speed in meters per second. */
+ public double getMaxLinearSpeedMetersPerSec() {
+ return TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+ }
+
+ /** Returns the maximum angular speed in radians per second. */
+ public double getMaxAngularSpeedRadPerSec() {
+ return getMaxLinearSpeedMetersPerSec() / DRIVE_BASE_RADIUS;
+ }
+
+ /** Returns an array of module translations. */
+ public static Translation2d[] getModuleTranslations() {
+ return new Translation2d[] {
+ new Translation2d(TunerConstants.FrontLeft.LocationX, TunerConstants.FrontLeft.LocationY),
+ new Translation2d(TunerConstants.FrontRight.LocationX, TunerConstants.FrontRight.LocationY),
+ new Translation2d(TunerConstants.BackLeft.LocationX, TunerConstants.BackLeft.LocationY),
+ new Translation2d(TunerConstants.BackRight.LocationX, TunerConstants.BackRight.LocationY)
+ };
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java
new file mode 100644
index 0000000..e5aa51b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java
@@ -0,0 +1,24 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface GyroIO {
+ @AutoLog
+ public static class GyroIOInputs {
+ public boolean connected = false;
+ public Rotation2d yawPosition = new Rotation2d();
+ public double yawVelocityRadPerSec = 0.0;
+ public double[] odometryYawTimestamps = new double[] {};
+ public Rotation2d[] odometryYawPositions = new Rotation2d[] {};
+ }
+
+ public default void updateInputs(GyroIOInputs inputs) {}
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
new file mode 100644
index 0000000..d52ce39
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
@@ -0,0 +1,61 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.Pigeon2Configuration;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import frc.robot.generated.TunerConstants;
+import java.util.Queue;
+
+/** IO implementation for Pigeon 2. */
+public class GyroIOPigeon2 implements GyroIO {
+ private final Pigeon2 pigeon =
+ new Pigeon2(
+ TunerConstants.DrivetrainConstants.Pigeon2Id,
+ TunerConstants.DrivetrainConstants.CANBusName);
+ private final StatusSignal yaw = pigeon.getYaw();
+ private final Queue yawPositionQueue;
+ private final Queue yawTimestampQueue;
+ private final StatusSignal yawVelocity = pigeon.getAngularVelocityZWorld();
+
+ public GyroIOPigeon2() {
+ pigeon.getConfigurator().apply(new Pigeon2Configuration());
+ pigeon.getConfigurator().setYaw(0.0);
+
+ BaseStatusSignal.setUpdateFrequencyForAll(Drive.ODOMETRY_FREQUENCY, yaw, yawVelocity);
+ pigeon.optimizeBusUtilization();
+ yawTimestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue();
+ yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(yaw, yawVelocity);
+ }
+
+ @Override
+ public void updateInputs(GyroIOInputs inputs) {
+ inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK);
+
+ inputs.yawPosition =
+ Rotation2d.fromDegrees(
+ BaseStatusSignal.getLatencyCompensatedValueAsDouble(yaw, yawVelocity));
+ inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble());
+
+ inputs.odometryYawTimestamps =
+ yawTimestampQueue.stream().mapToDouble((Double value) -> value).toArray();
+ inputs.odometryYawPositions =
+ yawPositionQueue.stream()
+ .map(value -> Rotation2d.fromDegrees(value))
+ .toArray(Rotation2d[]::new);
+ yawTimestampQueue.clear();
+ yawPositionQueue.clear();
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
new file mode 100644
index 0000000..7d87193
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -0,0 +1,141 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import org.littletonrobotics.junction.Logger;
+
+public class Module {
+ private final ModuleIO io;
+ private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
+ private final int index;
+ private final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ constants;
+
+ private final Alert driveDisconnectedAlert;
+ private final Alert turnDisconnectedAlert;
+ private final Alert turnEncoderDisconnectedAlert;
+ private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {};
+
+ public Module(
+ ModuleIO io,
+ int index,
+ SwerveModuleConstants
+ constants) {
+ this.io = io;
+ this.index = index;
+ this.constants = constants;
+ driveDisconnectedAlert =
+ new Alert(
+ "Disconnected drive motor on module " + Integer.toString(index) + ".",
+ AlertType.kError);
+ turnDisconnectedAlert =
+ new Alert(
+ "Disconnected turn motor on module " + Integer.toString(index) + ".", AlertType.kError);
+ turnEncoderDisconnectedAlert =
+ new Alert(
+ "Disconnected turn encoder on module " + Integer.toString(index) + ".",
+ AlertType.kError);
+ }
+
+ public void periodic() {
+ io.updateInputs(inputs);
+ Logger.processInputs("Drive/Module" + Integer.toString(index), inputs);
+
+ // Calculate positions for odometry
+ int sampleCount = inputs.odometryTimestamps.length; // All signals are sampled together
+ odometryPositions = new SwerveModulePosition[sampleCount];
+ for (int i = 0; i < sampleCount; i++) {
+ double positionMeters = inputs.odometryDrivePositionsRad[i] * constants.WheelRadius;
+ Rotation2d angle = inputs.odometryTurnPositions[i];
+ odometryPositions[i] = new SwerveModulePosition(positionMeters, angle);
+ }
+
+ // Update alerts
+ driveDisconnectedAlert.set(!inputs.driveConnected);
+ turnDisconnectedAlert.set(!inputs.turnConnected);
+ turnEncoderDisconnectedAlert.set(!inputs.turnEncoderConnected);
+ }
+
+ /** Runs the module with the specified setpoint state. Mutates the state to optimize it. */
+ public void runSetpoint(SwerveModuleState state) {
+ // Optimize velocity setpoint
+ state.optimize(getAngle());
+ state.cosineScale(inputs.turnPosition);
+
+ // Apply setpoints
+ io.setDriveVelocity(state.speedMetersPerSecond / constants.WheelRadius);
+ io.setTurnPosition(state.angle);
+ }
+
+ /** Runs the module with the specified output while controlling to zero degrees. */
+ public void runCharacterization(double output) {
+ io.setDriveOpenLoop(output);
+ io.setTurnPosition(new Rotation2d());
+ }
+
+ /** Disables all outputs to motors. */
+ public void stop() {
+ io.setDriveOpenLoop(0.0);
+ io.setTurnOpenLoop(0.0);
+ }
+
+ /** Returns the current turn angle of the module. */
+ public Rotation2d getAngle() {
+ return inputs.turnPosition;
+ }
+
+ /** Returns the current drive position of the module in meters. */
+ public double getPositionMeters() {
+ return inputs.drivePositionRad * constants.WheelRadius;
+ }
+
+ /** Returns the current drive velocity of the module in meters per second. */
+ public double getVelocityMetersPerSec() {
+ return inputs.driveVelocityRadPerSec * constants.WheelRadius;
+ }
+
+ /** Returns the module position (turn angle and drive position). */
+ public SwerveModulePosition getPosition() {
+ return new SwerveModulePosition(getPositionMeters(), getAngle());
+ }
+
+ /** Returns the module state (turn angle and drive velocity). */
+ public SwerveModuleState getState() {
+ return new SwerveModuleState(getVelocityMetersPerSec(), getAngle());
+ }
+
+ /** Returns the module positions received this cycle. */
+ public SwerveModulePosition[] getOdometryPositions() {
+ return odometryPositions;
+ }
+
+ /** Returns the timestamps of the samples received this cycle. */
+ public double[] getOdometryTimestamps() {
+ return inputs.odometryTimestamps;
+ }
+
+ /** Returns the module position in radians. */
+ public double getWheelRadiusCharacterizationPosition() {
+ return inputs.drivePositionRad;
+ }
+
+ /** Returns the module velocity in rotations/sec (Phoenix native units). */
+ public double getFFCharacterizationVelocity() {
+ return Units.radiansToRotations(inputs.driveVelocityRadPerSec);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
new file mode 100644
index 0000000..d498ad4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
@@ -0,0 +1,49 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface ModuleIO {
+ @AutoLog
+ public static class ModuleIOInputs {
+ public boolean driveConnected = false;
+ public double drivePositionRad = 0.0;
+ public double driveVelocityRadPerSec = 0.0;
+ public double driveAppliedVolts = 0.0;
+ public double driveCurrentAmps = 0.0;
+
+ public boolean turnConnected = false;
+ public boolean turnEncoderConnected = false;
+ public Rotation2d turnAbsolutePosition = new Rotation2d();
+ public Rotation2d turnPosition = new Rotation2d();
+ public double turnVelocityRadPerSec = 0.0;
+ public double turnAppliedVolts = 0.0;
+ public double turnCurrentAmps = 0.0;
+
+ public double[] odometryTimestamps = new double[] {};
+ public double[] odometryDrivePositionsRad = new double[] {};
+ public Rotation2d[] odometryTurnPositions = new Rotation2d[] {};
+ }
+
+ /** Updates the set of loggable inputs. */
+ public default void updateInputs(ModuleIOInputs inputs) {}
+
+ /** Run the drive motor at the specified open loop value. */
+ public default void setDriveOpenLoop(double output) {}
+
+ /** Run the turn motor at the specified open loop value. */
+ public default void setTurnOpenLoop(double output) {}
+
+ /** Run the drive motor at the specified velocity. */
+ public default void setDriveVelocity(double velocityRadPerSec) {}
+
+ /** Run the turn motor to the specified rotation. */
+ public default void setTurnPosition(Rotation2d rotation) {}
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
new file mode 100644
index 0000000..992d9f6
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
@@ -0,0 +1,136 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+/**
+ * Physics sim implementation of module IO. The sim models are configured using a set of module
+ * constants from Phoenix. Simulation is always based on voltage control.
+ */
+public class ModuleIOSim implements ModuleIO {
+ // TunerConstants doesn't support separate sim constants, so they are declared locally
+ private static final double DRIVE_KP = 0.05;
+ private static final double DRIVE_KD = 0.0;
+ private static final double DRIVE_KS = 0.0;
+ private static final double DRIVE_KV_ROT =
+ 0.91035; // Same units as TunerConstants: (volt * secs) / rotation
+ private static final double DRIVE_KV = 1.0 / Units.rotationsToRadians(1.0 / DRIVE_KV_ROT);
+ private static final double TURN_KP = 8.0;
+ private static final double TURN_KD = 0.0;
+ private static final DCMotor DRIVE_GEARBOX = DCMotor.getKrakenX60Foc(1);
+ private static final DCMotor TURN_GEARBOX = DCMotor.getKrakenX60Foc(1);
+
+ private final DCMotorSim driveSim;
+ private final DCMotorSim turnSim;
+
+ private boolean driveClosedLoop = false;
+ private boolean turnClosedLoop = false;
+ private PIDController driveController = new PIDController(DRIVE_KP, 0, DRIVE_KD);
+ private PIDController turnController = new PIDController(TURN_KP, 0, TURN_KD);
+ private double driveFFVolts = 0.0;
+ private double driveAppliedVolts = 0.0;
+ private double turnAppliedVolts = 0.0;
+
+ public ModuleIOSim(
+ SwerveModuleConstants
+ constants) {
+ // Create drive and turn sim models
+ driveSim =
+ new DCMotorSim(
+ LinearSystemId.createDCMotorSystem(
+ DRIVE_GEARBOX, constants.DriveInertia, constants.DriveMotorGearRatio),
+ DRIVE_GEARBOX);
+ turnSim =
+ new DCMotorSim(
+ LinearSystemId.createDCMotorSystem(
+ TURN_GEARBOX, constants.SteerInertia, constants.SteerMotorGearRatio),
+ TURN_GEARBOX);
+
+ // Enable wrapping for turn PID
+ turnController.enableContinuousInput(-Math.PI, Math.PI);
+ }
+
+ @Override
+ public void updateInputs(ModuleIOInputs inputs) {
+ // Run closed-loop control
+ if (driveClosedLoop) {
+ driveAppliedVolts =
+ driveFFVolts + driveController.calculate(driveSim.getAngularVelocityRadPerSec());
+ } else {
+ driveController.reset();
+ }
+ if (turnClosedLoop) {
+ turnAppliedVolts = turnController.calculate(turnSim.getAngularPositionRad());
+ } else {
+ turnController.reset();
+ }
+
+ // Update simulation state
+ driveSim.setInputVoltage(MathUtil.clamp(driveAppliedVolts, -12.0, 12.0));
+ turnSim.setInputVoltage(MathUtil.clamp(turnAppliedVolts, -12.0, 12.0));
+ driveSim.update(0.02);
+ turnSim.update(0.02);
+
+ // Update drive inputs
+ inputs.driveConnected = true;
+ inputs.drivePositionRad = driveSim.getAngularPositionRad();
+ inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();
+ inputs.driveAppliedVolts = driveAppliedVolts;
+ inputs.driveCurrentAmps = Math.abs(driveSim.getCurrentDrawAmps());
+
+ // Update turn inputs
+ inputs.turnConnected = true;
+ inputs.turnEncoderConnected = true;
+ inputs.turnAbsolutePosition = new Rotation2d(turnSim.getAngularPositionRad());
+ inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad());
+ inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec();
+ inputs.turnAppliedVolts = turnAppliedVolts;
+ inputs.turnCurrentAmps = Math.abs(turnSim.getCurrentDrawAmps());
+
+ // Update odometry inputs (50Hz because high-frequency odometry in sim doesn't matter)
+ inputs.odometryTimestamps = new double[] {Timer.getFPGATimestamp()};
+ inputs.odometryDrivePositionsRad = new double[] {inputs.drivePositionRad};
+ inputs.odometryTurnPositions = new Rotation2d[] {inputs.turnPosition};
+ }
+
+ @Override
+ public void setDriveOpenLoop(double output) {
+ driveClosedLoop = false;
+ driveAppliedVolts = output;
+ }
+
+ @Override
+ public void setTurnOpenLoop(double output) {
+ turnClosedLoop = false;
+ turnAppliedVolts = output;
+ }
+
+ @Override
+ public void setDriveVelocity(double velocityRadPerSec) {
+ driveClosedLoop = true;
+ driveFFVolts = DRIVE_KS * Math.signum(velocityRadPerSec) + DRIVE_KV * velocityRadPerSec;
+ driveController.setSetpoint(velocityRadPerSec);
+ }
+
+ @Override
+ public void setTurnPosition(Rotation2d rotation) {
+ turnClosedLoop = true;
+ turnController.setSetpoint(rotation.getRadians());
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
new file mode 100644
index 0000000..6227811
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
@@ -0,0 +1,263 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import static frc.robot.util.phoenix.PhoenixUtil.*;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC;
+import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.controls.TorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.ParentDevice;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
+import frc.robot.generated.TunerConstants;
+import java.util.Queue;
+
+/**
+ * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
+ * CANcoder. Configured using a set of module constants from Phoenix.
+ *
+ * Device configuration and other behaviors not exposed by TunerConstants can be customized here.
+ */
+public class ModuleIOTalonFX implements ModuleIO {
+ private final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ constants;
+
+ // Hardware objects
+ private final TalonFX driveTalon;
+ private final TalonFX turnTalon;
+ private final CANcoder cancoder;
+
+ // Voltage control requests
+ private final VoltageOut voltageRequest = new VoltageOut(0);
+ private final PositionVoltage positionVoltageRequest = new PositionVoltage(0.0);
+ private final VelocityVoltage velocityVoltageRequest = new VelocityVoltage(0.0);
+
+ // Torque-current control requests
+ private final TorqueCurrentFOC torqueCurrentRequest = new TorqueCurrentFOC(0);
+ private final MotionMagicTorqueCurrentFOC positionTorqueCurrentRequest =
+ new MotionMagicTorqueCurrentFOC(0.0);
+ private final VelocityTorqueCurrentFOC velocityTorqueCurrentRequest =
+ new VelocityTorqueCurrentFOC(0.0);
+
+ // Timestamp inputs from Phoenix thread
+ private final Queue timestampQueue;
+
+ // Inputs from drive motor
+ private final StatusSignal drivePosition;
+ private final Queue drivePositionQueue;
+ private final StatusSignal driveVelocity;
+ private final StatusSignal driveAppliedVolts;
+ private final StatusSignal driveCurrent;
+
+ // Inputs from turn motor
+ private final StatusSignal turnAbsolutePosition;
+ private final StatusSignal turnPosition;
+ private final Queue turnPositionQueue;
+ private final StatusSignal turnVelocity;
+ private final StatusSignal turnAppliedVolts;
+ private final StatusSignal turnCurrent;
+
+ // Connection debouncers
+ private final Debouncer driveConnectedDebounce = new Debouncer(0.5);
+ private final Debouncer turnConnectedDebounce = new Debouncer(0.5);
+ private final Debouncer turnEncoderConnectedDebounce = new Debouncer(0.5);
+
+ public ModuleIOTalonFX(
+ SwerveModuleConstants
+ constants) {
+ this.constants = constants;
+ driveTalon = new TalonFX(constants.DriveMotorId, TunerConstants.DrivetrainConstants.CANBusName);
+ turnTalon = new TalonFX(constants.SteerMotorId, TunerConstants.DrivetrainConstants.CANBusName);
+ cancoder = new CANcoder(constants.EncoderId, TunerConstants.DrivetrainConstants.CANBusName);
+
+ // Configure drive motor
+ var driveConfig = constants.DriveMotorInitialConfigs;
+ driveConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+ driveConfig.Slot0 = constants.DriveMotorGains;
+ driveConfig.Feedback.SensorToMechanismRatio = constants.DriveMotorGearRatio;
+ driveConfig.TorqueCurrent.PeakForwardTorqueCurrent = constants.SlipCurrent;
+ driveConfig.TorqueCurrent.PeakReverseTorqueCurrent = -constants.SlipCurrent;
+ driveConfig.CurrentLimits.StatorCurrentLimit = constants.SlipCurrent;
+ driveConfig.CurrentLimits.StatorCurrentLimitEnable = true;
+ driveConfig.MotorOutput.Inverted =
+ constants.DriveMotorInverted
+ ? InvertedValue.Clockwise_Positive
+ : InvertedValue.CounterClockwise_Positive;
+ tryUntilOk(5, () -> driveTalon.getConfigurator().apply(driveConfig, 0.25));
+ tryUntilOk(5, () -> driveTalon.setPosition(0.0, 0.25));
+
+ // Configure turn motor
+ var turnConfig = new TalonFXConfiguration();
+ turnConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+ turnConfig.Slot0 = constants.SteerMotorGains;
+ turnConfig.Feedback.FeedbackRemoteSensorID = constants.EncoderId;
+ turnConfig.Feedback.FeedbackSensorSource =
+ switch (constants.FeedbackSource) {
+ case RemoteCANcoder -> FeedbackSensorSourceValue.RemoteCANcoder;
+ case FusedCANcoder -> FeedbackSensorSourceValue.FusedCANcoder;
+ case SyncCANcoder -> FeedbackSensorSourceValue.SyncCANcoder;
+ default -> throw new RuntimeException(
+ "You are using an unsupported swerve configuration, which this template does not support without manual customization. The 2025 release of Phoenix supports some swerve configurations which were not available during 2025 beta testing, preventing any development and support from the AdvantageKit developers.");
+ };
+ turnConfig.Feedback.RotorToSensorRatio = constants.SteerMotorGearRatio;
+ turnConfig.MotionMagic.MotionMagicCruiseVelocity = 100.0 / constants.SteerMotorGearRatio;
+ turnConfig.MotionMagic.MotionMagicAcceleration =
+ turnConfig.MotionMagic.MotionMagicCruiseVelocity * 7.5;
+ turnConfig.MotionMagic.MotionMagicExpo_kV = 0.12 * constants.SteerMotorGearRatio;
+ turnConfig.MotionMagic.MotionMagicExpo_kA = 0.1;
+ turnConfig.ClosedLoopGeneral.ContinuousWrap = true;
+ turnConfig.MotorOutput.Inverted =
+ constants.SteerMotorInverted
+ ? InvertedValue.Clockwise_Positive
+ : InvertedValue.CounterClockwise_Positive;
+ tryUntilOk(5, () -> turnTalon.getConfigurator().apply(turnConfig, 0.25));
+
+ // Configure CANCoder
+ CANcoderConfiguration cancoderConfig = constants.EncoderInitialConfigs;
+ cancoderConfig.MagnetSensor.MagnetOffset = constants.EncoderOffset;
+ cancoderConfig.MagnetSensor.SensorDirection =
+ constants.EncoderInverted
+ ? SensorDirectionValue.Clockwise_Positive
+ : SensorDirectionValue.CounterClockwise_Positive;
+ cancoder.getConfigurator().apply(cancoderConfig);
+
+ // Create timestamp queue
+ timestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue();
+
+ // Create drive status signals
+ drivePosition = driveTalon.getPosition();
+ driveVelocity = driveTalon.getVelocity();
+ drivePositionQueue =
+ PhoenixOdometryThread.getInstance().registerSignal(drivePosition, driveVelocity);
+ driveAppliedVolts = driveTalon.getMotorVoltage();
+ driveCurrent = driveTalon.getStatorCurrent();
+
+ // Create turn status signals
+ turnAbsolutePosition = cancoder.getAbsolutePosition();
+ turnPosition = turnTalon.getPosition();
+ turnVelocity = turnTalon.getVelocity();
+ turnPositionQueue =
+ PhoenixOdometryThread.getInstance().registerSignal(turnPosition, turnVelocity);
+ turnAppliedVolts = turnTalon.getMotorVoltage();
+ turnCurrent = turnTalon.getStatorCurrent();
+
+ // Configure periodic frames
+ BaseStatusSignal.setUpdateFrequencyForAll(
+ Drive.ODOMETRY_FREQUENCY, drivePosition, turnPosition);
+ BaseStatusSignal.setUpdateFrequencyForAll(
+ 50.0,
+ driveVelocity,
+ driveAppliedVolts,
+ driveCurrent,
+ turnAbsolutePosition,
+ turnVelocity,
+ turnAppliedVolts,
+ turnCurrent);
+ ParentDevice.optimizeBusUtilizationForAll(driveTalon, turnTalon);
+ }
+
+ @Override
+ public void updateInputs(ModuleIOInputs inputs) {
+ // Refresh all signals
+ var driveStatus =
+ BaseStatusSignal.refreshAll(drivePosition, driveVelocity, driveAppliedVolts, driveCurrent);
+ var turnStatus =
+ BaseStatusSignal.refreshAll(turnPosition, turnVelocity, turnAppliedVolts, turnCurrent);
+ var turnEncoderStatus = BaseStatusSignal.refreshAll(turnAbsolutePosition);
+
+ // Update drive inputs
+ inputs.driveConnected = driveConnectedDebounce.calculate(driveStatus.isOK());
+ inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble());
+ inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble());
+ inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble();
+ inputs.driveCurrentAmps = driveCurrent.getValueAsDouble();
+
+ // Update turn inputs
+ inputs.turnConnected = turnConnectedDebounce.calculate(turnStatus.isOK());
+ inputs.turnEncoderConnected = turnEncoderConnectedDebounce.calculate(turnEncoderStatus.isOK());
+ inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble());
+ inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble());
+ inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble());
+ inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
+ inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
+
+ // Update odometry inputs
+ inputs.odometryTimestamps =
+ timestampQueue.stream().mapToDouble((Double value) -> value).toArray();
+ inputs.odometryDrivePositionsRad =
+ drivePositionQueue.stream()
+ .mapToDouble((Double value) -> Units.rotationsToRadians(value))
+ .toArray();
+ inputs.odometryTurnPositions =
+ turnPositionQueue.stream()
+ .map((Double value) -> Rotation2d.fromRotations(value))
+ .toArray(Rotation2d[]::new);
+ timestampQueue.clear();
+ drivePositionQueue.clear();
+ turnPositionQueue.clear();
+ }
+
+ @Override
+ public void setDriveOpenLoop(double output) {
+ driveTalon.setControl(
+ switch (constants.DriveMotorClosedLoopOutput) {
+ case Voltage -> voltageRequest.withOutput(output);
+ case TorqueCurrentFOC -> torqueCurrentRequest.withOutput(output);
+ });
+ }
+
+ @Override
+ public void setTurnOpenLoop(double output) {
+ turnTalon.setControl(
+ switch (constants.SteerMotorClosedLoopOutput) {
+ case Voltage -> voltageRequest.withOutput(output);
+ case TorqueCurrentFOC -> torqueCurrentRequest.withOutput(output);
+ });
+ }
+
+ @Override
+ public void setDriveVelocity(double velocityRadPerSec) {
+ double velocityRotPerSec = Units.radiansToRotations(velocityRadPerSec);
+ driveTalon.setControl(
+ switch (constants.DriveMotorClosedLoopOutput) {
+ case Voltage -> velocityVoltageRequest.withVelocity(velocityRotPerSec);
+ case TorqueCurrentFOC -> velocityTorqueCurrentRequest.withVelocity(velocityRotPerSec);
+ });
+ }
+
+ @Override
+ public void setTurnPosition(Rotation2d rotation) {
+ turnTalon.setControl(
+ switch (constants.SteerMotorClosedLoopOutput) {
+ case Voltage -> positionVoltageRequest.withPosition(rotation.getRotations());
+ case TorqueCurrentFOC -> positionTorqueCurrentRequest.withPosition(
+ rotation.getRotations());
+ });
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
new file mode 100644
index 0000000..6c332fb
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
@@ -0,0 +1,168 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.drive;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.StatusSignal;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj.RobotController;
+import frc.robot.generated.TunerConstants;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Queue;
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+import java.util.function.DoubleSupplier;
+
+/**
+ * Provides an interface for asynchronously reading high-frequency measurements to a set of queues.
+ *
+ * This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using
+ * a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling.
+ * This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore
+ * time synchronization.
+ */
+public class PhoenixOdometryThread extends Thread {
+ private final Lock signalsLock =
+ new ReentrantLock(); // Prevents conflicts when registering signals
+ private BaseStatusSignal[] phoenixSignals = new BaseStatusSignal[0];
+ private final List genericSignals = new ArrayList<>();
+ private final List> phoenixQueues = new ArrayList<>();
+ private final List> genericQueues = new ArrayList<>();
+ private final List> timestampQueues = new ArrayList<>();
+
+ private static boolean isCANFD =
+ new CANBus(TunerConstants.DrivetrainConstants.CANBusName).isNetworkFD();
+ private static PhoenixOdometryThread instance = null;
+
+ public static PhoenixOdometryThread getInstance() {
+ if (instance == null) {
+ instance = new PhoenixOdometryThread();
+ }
+ return instance;
+ }
+
+ private PhoenixOdometryThread() {
+ setName("PhoenixOdometryThread");
+ setDaemon(true);
+ }
+
+ @Override
+ public synchronized void start() {
+ if (timestampQueues.size() > 0) {
+ super.start();
+ }
+ }
+
+ /** Registers a Phoenix signal to be read from the thread. */
+ public Queue registerSignal(
+ StatusSignal signal, StatusSignal derivative) {
+ Queue queue = new ArrayBlockingQueue<>(20);
+ signalsLock.lock();
+ Drive.odometryLock.lock();
+ try {
+ BaseStatusSignal[] newSignals = new BaseStatusSignal[phoenixSignals.length + 2];
+ System.arraycopy(phoenixSignals, 0, newSignals, 0, phoenixSignals.length);
+ newSignals[phoenixSignals.length] = signal;
+ newSignals[phoenixSignals.length + 1] = derivative;
+ phoenixSignals = newSignals;
+ phoenixQueues.add(queue);
+ } finally {
+ signalsLock.unlock();
+ Drive.odometryLock.unlock();
+ }
+ return queue;
+ }
+
+ /** Registers a generic signal to be read from the thread. */
+ public Queue registerSignal(DoubleSupplier signal) {
+ Queue queue = new ArrayBlockingQueue<>(20);
+ signalsLock.lock();
+ Drive.odometryLock.lock();
+ try {
+ genericSignals.add(signal);
+ genericQueues.add(queue);
+ } finally {
+ signalsLock.unlock();
+ Drive.odometryLock.unlock();
+ }
+ return queue;
+ }
+
+ /** Returns a new queue that returns timestamp values for each sample. */
+ public Queue makeTimestampQueue() {
+ Queue queue = new ArrayBlockingQueue<>(20);
+ Drive.odometryLock.lock();
+ try {
+ timestampQueues.add(queue);
+ } finally {
+ Drive.odometryLock.unlock();
+ }
+ return queue;
+ }
+
+ @Override
+ public void run() {
+ while (true) {
+ // Wait for updates from all signals
+ signalsLock.lock();
+ try {
+ if (isCANFD && phoenixSignals.length > 0) {
+ BaseStatusSignal.waitForAll(2.0 / Drive.ODOMETRY_FREQUENCY, phoenixSignals);
+ } else {
+ // "waitForAll" does not support blocking on multiple signals with a bus
+ // that is not CAN FD, regardless of Pro licensing. No reasoning for this
+ // behavior is provided by the documentation.
+ Thread.sleep((long) (1000.0 / Drive.ODOMETRY_FREQUENCY));
+ if (phoenixSignals.length > 0) BaseStatusSignal.refreshAll(phoenixSignals);
+ }
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ } finally {
+ signalsLock.unlock();
+ }
+
+ // Save new data to queues
+ Drive.odometryLock.lock();
+ try {
+ // Sample timestamp is current FPGA time minus average CAN latency
+ // Default timestamps from Phoenix are NOT compatible with
+ // FPGA timestamps, this solution is imperfect but close
+ double timestamp = RobotController.getFPGATime() / 1e6;
+ double totalLatency = 0.0;
+ for (BaseStatusSignal signal : phoenixSignals) {
+ totalLatency += signal.getTimestamp().getLatency();
+ }
+ if (phoenixSignals.length > 0) {
+ timestamp -= totalLatency / phoenixSignals.length;
+ }
+
+ // Add new samples to queues
+ {
+ int i = 0;
+ for (var queue : phoenixQueues) {
+ queue.offer(
+ BaseStatusSignal.getLatencyCompensatedValueAsDouble(
+ phoenixSignals[i++], phoenixSignals[i++]));
+ }
+ }
+ for (int i = 0; i < genericSignals.size(); i++) {
+ genericQueues.get(i).offer(genericSignals.get(i).getAsDouble());
+ }
+ for (var queue : timestampQueues) {
+ queue.offer(timestamp);
+ }
+ } finally {
+ Drive.odometryLock.unlock();
+ }
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveWidget.java b/src/main/java/frc/robot/subsystems/drive/SwerveWidget.java
new file mode 100644
index 0000000..1008fc1
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/drive/SwerveWidget.java
@@ -0,0 +1,39 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import lombok.RequiredArgsConstructor;
+
+@RequiredArgsConstructor
+public final class SwerveWidget implements Sendable {
+ private final Drive drive;
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("SwerveDrive");
+
+ // Initialize the front left module
+ builder.addDoubleProperty(
+ "Front Left Angle", () -> drive.getModulePositions()[0].angle.getRadians(), null);
+ builder.addDoubleProperty(
+ "Front Left Velocity", () -> drive.getModuleStates()[0].speedMetersPerSecond, null);
+
+ // Initialize the front right module
+ builder.addDoubleProperty(
+ "Front Right Angle", () -> drive.getModulePositions()[1].angle.getRadians(), null);
+ builder.addDoubleProperty(
+ "Front Right Velocity", () -> drive.getModuleStates()[1].speedMetersPerSecond, null);
+
+ // Initialize the back left module
+ builder.addDoubleProperty(
+ "Back Left Angle", () -> drive.getModulePositions()[2].angle.getRadians(), null);
+ builder.addDoubleProperty(
+ "Back Left Velocity", () -> drive.getModuleStates()[2].speedMetersPerSecond, null);
+
+ // Initialize the back right module
+ builder.addDoubleProperty(
+ "Back Right Angle", () -> drive.getModulePositions()[3].angle.getRadians(), null);
+ builder.addDoubleProperty(
+ "Back Right Velocity", () -> drive.getModuleStates()[3].speedMetersPerSecond, null);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
new file mode 100644
index 0000000..c7bbe43
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -0,0 +1,98 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.Rotations;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.littletonrobotics.junction.Logger;
+
+public class Elevator extends SubsystemBase {
+ public static enum Setpoint {
+ Stowed(0),
+ L2(1.67),
+ L3(2.82),
+ L4(4.7),
+ AlgaeLow(0.32),
+ AlgaeHigh(1.625),
+ Barge(4.7);
+
+ final Angle target;
+
+ Setpoint(double rots) {
+ target = Rotations.of(rots);
+ }
+
+ public boolean isElevated() {
+ return this != Stowed;
+ }
+
+ public boolean isCoral() {
+ switch (this) {
+ case L2:
+ case L3:
+ case L4:
+ return true;
+
+ default:
+ return false;
+ }
+ }
+
+ public boolean isAlgae() {
+ switch (this) {
+ case AlgaeLow:
+ case AlgaeHigh:
+ case Barge:
+ return true;
+
+ default:
+ return false;
+ }
+ }
+ }
+
+ private final ElevatorIO io;
+ private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
+ private Setpoint currentSetpoint = Setpoint.Stowed;
+
+ public final Trigger isAtSetpoint =
+ new Trigger(() -> inputs.leaderPosition.isNear(currentSetpoint.target, Rotations.of(0.075)));
+
+ public Elevator(ElevatorIO motorIO) {
+ io = motorIO;
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+ Logger.processInputs("Elevator/Motors", inputs);
+
+ Logger.recordOutput("Elevator/Setpoint", currentSetpoint.target.in(Rotations));
+ Logger.recordOutput("Elevator/IsAtHeight", isAtSetpoint.getAsBoolean());
+ }
+
+ public Command setTarget(Setpoint setpoint) {
+ return Commands.sequence(
+ runOnce(
+ () -> {
+ currentSetpoint = setpoint;
+ io.setTarget(setpoint);
+ }),
+ Commands.idle(this));
+ }
+
+ public Command stow() {
+ return setTarget(Setpoint.Stowed);
+ }
+
+ public boolean madeProgress(double percentage) {
+ return inputs.leaderPosition.gte(currentSetpoint.target.times(percentage));
+ }
+
+ public boolean shouldEjectFast() {
+ return currentSetpoint == Setpoint.L4;
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
new file mode 100644
index 0000000..a7b42c4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
@@ -0,0 +1,70 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.Slot1Configs;
+import com.ctre.phoenix6.configs.Slot2Configs;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.measure.*;
+
+public final class ElevatorConstants {
+ public static final int kLeaderId = 13, kFollowerId = 14;
+ public static final CANBus kMotorBus = new CANBus("canivore0");
+
+ public static final class Trapezoidal {
+ public static final AngularVelocity kMaxVelocity = RotationsPerSecond.of(10);
+ public static final AngularAcceleration kMaxAcceleration = RotationsPerSecondPerSecond.of(25);
+ public static final Velocity kMaxJerk =
+ RotationsPerSecondPerSecond.per(Second).of(100);
+ }
+
+ public static final class Exponential {
+ public static final AngularAcceleration kMaxAcceleration = RotationsPerSecondPerSecond.of(25);
+ public static final Velocity kMaxJerk =
+ RotationsPerSecondPerSecond.per(Second).of(100);
+
+ public static final double kExpo_kV = 0.45;
+ public static final double kExpo_kA = 0.15;
+ }
+
+ /** Gains for moving the elevator to a setpoint from stow */
+ public static final Slot0Configs kRiseGains =
+ new Slot0Configs()
+ .withGravityType(GravityTypeValue.Elevator_Static)
+ .withKP(175)
+ .withKI(10)
+ .withKD(30)
+ .withKV(2.33)
+ .withKA(0.1)
+ .withKG(5)
+ .withKS(0.2);
+
+ /** Gains for stowing the elevator */
+ public static final Slot1Configs kStowGains =
+ new Slot1Configs()
+ .withGravityType(GravityTypeValue.Elevator_Static)
+ .withKP(50)
+ .withKI(0)
+ .withKD(7.5)
+ .withKV(2.33)
+ .withKA(0.05)
+ .withKG(0.8)
+ .withKS(0.2);
+
+ /** Gains for traversing between any two non-stow setpoints */
+ public static final Slot2Configs kTraversalGains =
+ new Slot2Configs()
+ .withGravityType(GravityTypeValue.Elevator_Static)
+ .withKP(50)
+ .withKI(0)
+ .withKD(3)
+ .withKV(2.33)
+ .withKA(0.07)
+ .withKG(0.72)
+ .withKS(0.2);
+
+ public static final Distance kSpoolCircumference = Inches.of(6);
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
new file mode 100644
index 0000000..9142a4a
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
@@ -0,0 +1,36 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.units.measure.*;
+import frc.robot.subsystems.elevator.Elevator.Setpoint;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface ElevatorIO {
+ @AutoLog
+ public static class ElevatorIOInputs {
+ public boolean leaderConnected = false, followerConnected = false;
+ public Angle leaderPosition = Rotations.of(0), followerPosition = Rotations.of(0);
+ public AngularVelocity velocity = RotationsPerSecond.of(0);
+ public AngularAcceleration acceleration = RotationsPerSecondPerSecond.of(0);
+ public Voltage leaderVoltage = Volts.of(0), followerVoltage = Volts.of(0);
+ public Current torqueCurrent = Amps.of(0),
+ statorCurrent = Amps.of(0),
+ supplyCurrent = Amps.of(0);
+ public double closedLoopError = 0, closedLoopReference = 0, closedLoopRefSlope = 0;
+ public double proportionalOutput = 0,
+ derivativeOutput = 0,
+ feedforward = 0,
+ closedLoopOutput = 0;
+ public Distance height = Inches.of(0);
+ }
+
+ default void updateInputs(ElevatorIOInputs inputs) {}
+
+ default void setTarget(Setpoint setpoint) {}
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java
new file mode 100644
index 0000000..0762d01
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java
@@ -0,0 +1,48 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.sim.TalonFXSimState;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+
+public final class ElevatorIOSim extends ElevatorIOTalonFX {
+ private final DCMotor motor = DCMotor.getKrakenX60Foc(2).withReduction(9);
+ // TODO: TUNE/CORRECT THESE CONSTANTS
+ private final ElevatorSim physicsSim =
+ new ElevatorSim(
+ LinearSystemId.createElevatorSystem(
+ motor, 11.34, Units.inchesToMeters(6) / (2 * Math.PI), 1),
+ motor,
+ 0,
+ Units.inchesToMeters(6) * 4.67,
+ true,
+ 0);
+
+ private final TalonFXSimState simState = leader.getSimState();
+ private double lastTimestamp = Timer.getTimestamp();
+
+ @Override
+ public void updateInputs(ElevatorIOInputs inputs) {
+ simState.setSupplyVoltage(RobotController.getBatteryVoltage());
+ double appliedVoltage = simState.getMotorVoltage();
+ physicsSim.setInputVoltage(appliedVoltage);
+
+ var newTimestamp = Timer.getTimestamp();
+ physicsSim.update(newTimestamp - lastTimestamp);
+ lastTimestamp = newTimestamp;
+
+ var rots = ElevatorUtils.inchesToRotations(Meters.of(physicsSim.getPositionMeters()));
+ simState.setRawRotorPosition(rots);
+ var velocity =
+ ElevatorUtils.convertVelocity(MetersPerSecond.of(physicsSim.getVelocityMetersPerSecond()));
+ simState.setRotorVelocity(velocity);
+
+ // use the updated StatusSignals after running the physics sim
+ super.updateInputs(inputs);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
new file mode 100644
index 0000000..39a197e
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
@@ -0,0 +1,160 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.*;
+import static frc.robot.subsystems.elevator.ElevatorConstants.*;
+import static frc.robot.util.phoenix.PhoenixUtil.tryUntilOk;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.ControlRequest;
+import com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC;
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.controls.MotionMagicExpoTorqueCurrentFOC;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
+import frc.robot.subsystems.elevator.Elevator.Setpoint;
+
+public sealed class ElevatorIOTalonFX implements ElevatorIO permits ElevatorIOSim {
+ protected final TalonFX leader = new TalonFX(kLeaderId, kMotorBus);
+ private final TalonFX follower = new TalonFX(kFollowerId, kMotorBus);
+
+ private final StatusSignal leaderPosition = leader.getPosition(),
+ followerPosition = follower.getPosition();
+ private final StatusSignal velocity = leader.getVelocity();
+ private final StatusSignal acceleration = leader.getAcceleration();
+ private final StatusSignal leaderVoltage = leader.getMotorVoltage(),
+ followerVoltage = follower.getMotorVoltage();
+ private final StatusSignal torqueCurrent = leader.getTorqueCurrent(),
+ statorCurrent = leader.getStatorCurrent(),
+ supplyCurrent = leader.getSupplyCurrent();
+ private final StatusSignal closedLoopError = leader.getClosedLoopError(),
+ closedLoopReference = leader.getClosedLoopReference(),
+ closedLoopRefSlope = leader.getClosedLoopReferenceSlope(),
+ closedLoopProportional = leader.getClosedLoopProportionalOutput(),
+ closedLoopDerivative = leader.getClosedLoopDerivativeOutput(),
+ closedLoopFeedForward = leader.getClosedLoopFeedForward(),
+ closedLoopOutput = leader.getClosedLoopOutput();
+
+ private final BaseStatusSignal[] leaderSignals =
+ new BaseStatusSignal[] {
+ leaderPosition,
+ velocity,
+ acceleration,
+ leaderVoltage,
+ torqueCurrent,
+ statorCurrent,
+ supplyCurrent,
+ closedLoopError,
+ closedLoopReference,
+ closedLoopRefSlope,
+ closedLoopProportional,
+ closedLoopDerivative,
+ closedLoopFeedForward,
+ closedLoopOutput
+ };
+
+ /** Control request for moving up to a setpoint, or for stowing the carriage */
+ private final MotionMagicExpoTorqueCurrentFOC exponential =
+ new MotionMagicExpoTorqueCurrentFOC(0).withUpdateFreqHz(1000).withFeedForward(Amps.of(8));
+ /** Control request for moving between setpoints, where neither is from stow */
+ private final DynamicMotionMagicTorqueCurrentFOC trapezoidal =
+ new DynamicMotionMagicTorqueCurrentFOC(
+ Rotations.of(0),
+ Trapezoidal.kMaxVelocity,
+ Trapezoidal.kMaxAcceleration,
+ Trapezoidal.kMaxJerk)
+ .withUpdateFreqHz(1000)
+ .withFeedForward(Amps.of(8));
+
+ public ElevatorIOTalonFX() {
+ final var config =
+ new TalonFXConfiguration()
+ .withSlot0(kRiseGains)
+ .withSlot1(kStowGains)
+ .withSlot2(kTraversalGains)
+ .withCurrentLimits(
+ new CurrentLimitsConfigs()
+ .withStatorCurrentLimit(80)
+ .withStatorCurrentLimitEnable(true)
+ .withSupplyCurrentLimit(120)
+ .withSupplyCurrentLimitEnable(true))
+ .withMotionMagic(
+ new MotionMagicConfigs()
+ .withMotionMagicCruiseVelocity(0)
+ .withMotionMagicAcceleration(Exponential.kMaxAcceleration)
+ .withMotionMagicJerk(Exponential.kMaxJerk)
+ .withMotionMagicExpo_kV(Exponential.kExpo_kV)
+ .withMotionMagicExpo_kA(Exponential.kExpo_kA))
+ .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(9))
+ .withSoftwareLimitSwitch(
+ new SoftwareLimitSwitchConfigs()
+ .withReverseSoftLimitThreshold(0)
+ .withReverseSoftLimitEnable(true)
+ .withForwardSoftLimitThreshold(Setpoint.Barge.target)
+ .withForwardSoftLimitEnable(true));
+
+ tryUntilOk(5, () -> leader.getConfigurator().apply(config));
+ tryUntilOk(5, () -> follower.getConfigurator().apply(config));
+ tryUntilOk(5, () -> follower.setControl(new Follower(kLeaderId, true).withUpdateFreqHz(1000)));
+
+ leader.setPosition(0);
+ leader.setNeutralMode(NeutralModeValue.Brake);
+ follower.setPosition(0);
+ follower.setNeutralMode(NeutralModeValue.Brake);
+
+ BaseStatusSignal.setUpdateFrequencyForAll(Hertz.of(250), followerPosition, followerVoltage);
+ BaseStatusSignal.setUpdateFrequencyForAll(Hertz.of(250), leaderSignals);
+
+ BaseStatusSignal.waitForAll(1, leaderSignals);
+ BaseStatusSignal.waitForAll(1, followerPosition, followerVoltage);
+ }
+
+ @Override
+ public void updateInputs(ElevatorIOInputs inputs) {
+ inputs.leaderConnected = BaseStatusSignal.waitForAll(0.005, leaderSignals).isOK();
+ inputs.followerConnected =
+ BaseStatusSignal.waitForAll(0.005, followerPosition, followerVoltage).isOK();
+
+ inputs.leaderPosition = leaderPosition.getValue();
+ inputs.followerPosition = followerPosition.getValue();
+ inputs.height = ElevatorUtils.rotsToInches(inputs.leaderPosition);
+ inputs.velocity = velocity.getValue();
+ inputs.acceleration = acceleration.getValue();
+ inputs.leaderVoltage = leaderVoltage.getValue();
+ inputs.followerVoltage = followerVoltage.getValue();
+ inputs.torqueCurrent = torqueCurrent.getValue();
+ inputs.statorCurrent = statorCurrent.getValue();
+ inputs.supplyCurrent = supplyCurrent.getValue();
+
+ inputs.closedLoopError = closedLoopError.getValue();
+ inputs.closedLoopReference = closedLoopReference.getValue();
+ inputs.closedLoopRefSlope = closedLoopRefSlope.getValue();
+ inputs.proportionalOutput = closedLoopProportional.getValue();
+ inputs.derivativeOutput = closedLoopDerivative.getValue();
+ inputs.feedforward = closedLoopFeedForward.getValue();
+ inputs.closedLoopOutput = closedLoopOutput.getValue();
+ }
+
+ @Override
+ public void setTarget(Setpoint setpoint) {
+ final ControlRequest request;
+
+ if (setpoint == Setpoint.Stowed) {
+ request = trapezoidal.withPosition(setpoint.target);
+ } else {
+ request = exponential.withPosition(setpoint.target);
+ }
+
+ leader.setControl(request);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorUtils.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorUtils.java
new file mode 100644
index 0000000..5230d85
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorUtils.java
@@ -0,0 +1,23 @@
+package frc.robot.subsystems.elevator;
+
+import static edu.wpi.first.units.Units.*;
+import static frc.robot.subsystems.elevator.ElevatorConstants.kSpoolCircumference;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.LinearVelocity;
+
+public final class ElevatorUtils {
+ public static Distance rotsToInches(Angle rotations) {
+ return Inches.of(rotations.in(Rotations) * kSpoolCircumference.in(Inches));
+ }
+
+ public static Angle inchesToRotations(Distance inches) {
+ return Rotations.of(inches.in(Inches) / kSpoolCircumference.in(Inches));
+ }
+
+ public static AngularVelocity convertVelocity(LinearVelocity velocity) {
+ return RotationsPerSecond.of(velocity.in(InchesPerSecond) / kSpoolCircumference.in(Inches));
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIO.java b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIO.java
new file mode 100644
index 0000000..3ef9efc
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIO.java
@@ -0,0 +1,16 @@
+package frc.robot.subsystems.end_effector;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface BeamBreakIO {
+ public default boolean isBroken() {
+ return false;
+ }
+
+ public default void updateInputs(BeamBreakIOInputs inputs) {}
+
+ @AutoLog
+ public static class BeamBreakIOInputs {
+ boolean isBroken = false;
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIODIO.java b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIODIO.java
new file mode 100644
index 0000000..ef948c6
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIODIO.java
@@ -0,0 +1,22 @@
+package frc.robot.subsystems.end_effector;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+
+public class BeamBreakIODIO implements BeamBreakIO {
+ private final DigitalInput input;
+
+ public BeamBreakIODIO(int channel) {
+ input = new DigitalInput(channel);
+ }
+
+ @Override
+ public boolean isBroken() {
+ // for some reason, our sensors return false when they're broken??
+ return !input.get();
+ }
+
+ @Override
+ public void updateInputs(BeamBreakIOInputs inputs) {
+ inputs.isBroken = isBroken();
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIOSupplierSim.java b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIOSupplierSim.java
new file mode 100644
index 0000000..f574870
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/end_effector/BeamBreakIOSupplierSim.java
@@ -0,0 +1,16 @@
+package frc.robot.subsystems.end_effector;
+
+import java.util.function.BooleanSupplier;
+
+public class BeamBreakIOSupplierSim implements BeamBreakIO {
+ private final BooleanSupplier supplier;
+
+ public BeamBreakIOSupplierSim(BooleanSupplier supplier) {
+ this.supplier = supplier;
+ }
+
+ @Override
+ public void updateInputs(BeamBreakIOInputs inputs) {
+ inputs.isBroken = supplier.getAsBoolean();
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/end_effector/EndEffector.java b/src/main/java/frc/robot/subsystems/end_effector/EndEffector.java
new file mode 100644
index 0000000..e072c2b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/end_effector/EndEffector.java
@@ -0,0 +1,188 @@
+package frc.robot.subsystems.end_effector;
+
+import static edu.wpi.first.units.Units.Amps;
+import static frc.robot.subsystems.end_effector.EndEffectorConstants.*;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.util.io.talon.TalonFXIO;
+import frc.robot.util.io.talon.TalonFXIOImpl;
+import frc.robot.util.io.talon.TalonFXIOInputsAutoLogged;
+import frc.robot.util.io.talon.TalonFXIOSimImpl;
+import java.util.function.BooleanSupplier;
+import org.littletonrobotics.junction.Logger;
+
+public class EndEffector extends SubsystemBase {
+ private final TalonFXIO motorIO;
+ private final TalonFXIOInputsAutoLogged motorInputs = new TalonFXIOInputsAutoLogged();
+ private final BeamBreakIO entranceIO, exitIO;
+ private final BeamBreakIOInputsAutoLogged entranceInputs = new BeamBreakIOInputsAutoLogged(),
+ exitInputs = new BeamBreakIOInputsAutoLogged();
+ private boolean coralInPosition, firstTime;
+ private final boolean jogDuringIntake;
+
+ public EndEffector(TalonFXIO motor, BeamBreakIO entrance, BeamBreakIO exit, boolean jog) {
+ motorIO = motor;
+ entranceIO = entrance;
+ exitIO = exit;
+
+ setDefaultCommand(teleIntake());
+ jogDuringIntake = jog;
+ SmartDashboard.putBoolean("Demo Intake", false);
+ }
+
+ public static EndEffector createReal() {
+ CurrentLimitsConfigs configs =
+ new CurrentLimitsConfigs()
+ .withStatorCurrentLimit(Amps.of(70))
+ .withStatorCurrentLimitEnable(true)
+ .withSupplyCurrentLimit(Amps.of(120))
+ .withSupplyCurrentLimitEnable(true);
+
+ return new EndEffector(
+ new TalonFXIOImpl(
+ kMotorID, kMotorBus, new TalonFXConfiguration().withCurrentLimits(configs)),
+ new BeamBreakIODIO(kEntranceBreakerID),
+ new BeamBreakIODIO(kExitBreakerID),
+ true);
+ }
+
+ public static EndEffector createSim() {
+ return new EndEffector(
+ new TalonFXIOSimImpl(kMotorID, kMotorBus, true, kSystemMOI, 1),
+ new BeamBreakIOSupplierSim(() -> false),
+ new BeamBreakIOSupplierSim(() -> false),
+ false);
+ }
+
+ private final void jogCoral() {
+ final boolean entrance = entranceInputs.isBroken;
+ final boolean exit = exitInputs.isBroken;
+
+ if (jogDuringIntake) {
+ if (!entrance && !exit) {
+ motorIO.setDutyCycle(kIdleSpeed);
+
+ coralInPosition = false;
+ firstTime = true;
+ } else if (entrance && exit) {
+ if (firstTime) {
+ motorIO.setDutyCycle(kIntakeSpeed / 2);
+ coralInPosition = false;
+ } else {
+ motorIO.stopMotor();
+ coralInPosition = true;
+ }
+ } else if (entrance && !exit) {
+ motorIO.setDutyCycle(kIntakeSpeed);
+
+ coralInPosition = false;
+ } else if (!entrance && exit) {
+ motorIO.setDutyCycle(-kDriveBackSpeed);
+
+ coralInPosition = false;
+ firstTime = false;
+ }
+ } else {
+ if (entrance && exit) {
+ motorIO.stopMotor();
+ } else {
+ motorIO.setDutyCycle(kIdleSpeed);
+ }
+ }
+ }
+
+ @Override
+ public void periodic() {
+ motorIO.updateInputs(motorInputs);
+ entranceIO.updateInputs(entranceInputs);
+ exitIO.updateInputs(exitInputs);
+
+ Logger.processInputs("EndEffector/Motor", motorInputs);
+ Logger.processInputs("EndEffector/EntranceSensor", entranceInputs);
+ Logger.processInputs("EndEffector/ExitSensor", exitInputs);
+
+ SmartDashboard.putBoolean("Coral In Position", coralInPosition);
+ SmartDashboard.putBoolean("First Time", firstTime);
+ SmartDashboard.putBoolean("Entrance Detected", entranceInputs.isBroken);
+ SmartDashboard.putBoolean("Exit Detected", exitInputs.isBroken);
+ }
+
+ public void resetState() {
+ motorIO.stopMotor();
+ coralInPosition = false;
+ firstTime = true;
+ }
+
+ public void onEnable() {
+ if (entranceIO.isBroken() && exitIO.isBroken()) {
+ firstTime = false;
+ coralInPosition = true;
+ } else resetState();
+ }
+
+ public Command teleIntake() {
+ return runOnce(this::jogCoral).andThen(Commands.waitSeconds(0.02));
+ }
+
+ public Command autoJogCoral() {
+ return runEnd(this::jogCoral, this::resetState);
+ }
+
+ public Command autoIntake() {
+ return autoJogCoral().raceWith(Commands.waitUntil(() -> exitInputs.isBroken));
+ }
+
+ public Command teleScoreCoral(BooleanSupplier ejectFast) {
+ return run(
+ () -> {
+ motorIO.setDutyCycle(ejectFast.getAsBoolean() ? kFastEjectSpeed : kSlowEjectSpeed);
+
+ firstTime = true;
+ coralInPosition = false;
+ });
+ }
+
+ public Command autoScoreCoral(BooleanSupplier elevatorIsAtHeight) {
+ return Commands.sequence(
+ Commands.waitUntil(elevatorIsAtHeight),
+ Commands.waitSeconds(0.25),
+ runOnce(() -> motorIO.setDutyCycle(kAutoEjectSpeed)),
+ Commands.race(Commands.waitSeconds(0.2), Commands.waitUntil(() -> !exitIO.isBroken())),
+ runOnce(this::resetState));
+ }
+
+ public Command scoreBarge() {
+ return runOnce(() -> motorIO.setDutyCycle(-kAlgaeBargeSpeed)).beforeStarting(this::resetState);
+ }
+
+ public Command scoreProcessor() {
+ return runOnce(() -> motorIO.setDutyCycle(-kAlgaeProcessorSpeed))
+ .andThen(Commands.idle(this))
+ .beforeStarting(this::resetState);
+ }
+
+ public Command intakeAlgae() {
+ return run(() -> motorIO.setDutyCycle(kIdleSpeed)).beforeStarting(this::resetState);
+ }
+
+ public boolean hasCoral() {
+ return entranceInputs.isBroken || exitInputs.isBroken;
+ }
+
+ public boolean entranceDetected() {
+ return entranceInputs.isBroken;
+ }
+
+ public boolean exitDetected() {
+ return exitInputs.isBroken;
+ }
+
+ public boolean coralInPosition() {
+ return coralInPosition;
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/end_effector/EndEffectorConstants.java b/src/main/java/frc/robot/subsystems/end_effector/EndEffectorConstants.java
new file mode 100644
index 0000000..b995b96
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/end_effector/EndEffectorConstants.java
@@ -0,0 +1,20 @@
+package frc.robot.subsystems.end_effector;
+
+import com.ctre.phoenix6.CANBus;
+import frc.robot.Constants;
+
+public final class EndEffectorConstants {
+ public static final int kMotorID = 20, kExitBreakerID = 2, kEntranceBreakerID = 1;
+ public static final CANBus kMotorBus = Constants.kRIOBus;
+ public static final double kFastEjectSpeed = .9,
+ kAutoEjectSpeed = 1,
+ kSlowEjectSpeed = .2,
+ kAlgaeBargeSpeed = 1,
+ kAlgaeProcessorSpeed = 0.3,
+ kIdleSpeed = .175,
+ kIntakeSpeed = 0.1,
+ kDriveBackSpeed = 0.075;
+
+ // TODO: TUNE THIS VALUE (ASK MARK/BRENNAN)
+ public static final double kSystemMOI = 0.02;
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java
new file mode 100644
index 0000000..9ae7c6c
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/Vision.java
@@ -0,0 +1,177 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.vision;
+
+import static frc.robot.subsystems.vision.VisionConstants.*;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.LinkedList;
+import java.util.List;
+import org.littletonrobotics.junction.Logger;
+
+public class Vision extends SubsystemBase {
+ private final VisionConsumer consumer;
+ private final VisionIO[] io;
+ private final VisionIOInputsAutoLogged[] inputs;
+ private final Alert[] disconnectedAlerts;
+
+ public Vision(VisionConsumer consumer, VisionIO... io) {
+ this.consumer = consumer;
+ this.io = io;
+
+ // Initialize inputs
+ this.inputs = new VisionIOInputsAutoLogged[io.length];
+ for (int i = 0; i < inputs.length; i++) {
+ inputs[i] = new VisionIOInputsAutoLogged();
+ }
+
+ // Initialize disconnected alerts
+ this.disconnectedAlerts = new Alert[io.length];
+ for (int i = 0; i < inputs.length; i++) {
+ disconnectedAlerts[i] =
+ new Alert("Vision camera " + CAMERA_NAMES[i] + " is disconnected.", AlertType.kWarning);
+ }
+
+ SmartDashboard.putBoolean("Use Vision", true);
+ }
+
+ @Override
+ public void periodic() {
+ for (int i = 0; i < io.length; i++) {
+ io[i].updateInputs(inputs[i]);
+ Logger.processInputs("Vision/" + CAMERA_NAMES[i] + "Camera", inputs[i]);
+ }
+
+ boolean enableVision = SmartDashboard.getBoolean("Use Vision", true);
+
+ // Initialize logging values
+ List allTagPoses = new LinkedList<>();
+ List allRobotPoses = new LinkedList<>();
+ List allRobotPosesAccepted = new LinkedList<>();
+ List allRobotPosesRejected = new LinkedList<>();
+
+ // Loop over cameras
+ for (int cameraIndex = 0; cameraIndex < io.length; cameraIndex++) {
+ // Update disconnected alert
+ disconnectedAlerts[cameraIndex].set(!inputs[cameraIndex].connected);
+
+ // Initialize logging values
+ List tagPoses = new LinkedList<>();
+ List robotPoses = new LinkedList<>();
+ List robotPosesAccepted = new LinkedList<>();
+ List robotPosesRejected = new LinkedList<>();
+
+ // Add tag poses
+ for (int tagId : inputs[cameraIndex].tagIds) {
+ var tagPose = APRILTAG_LAYOUT.getTagPose(tagId);
+ if (tagPose.isPresent()) {
+ tagPoses.add(tagPose.get());
+ }
+ }
+
+ // Loop over pose observations
+ for (var observation : inputs[cameraIndex].poseObservations) {
+ // Check whether to reject pose
+ boolean rejectPose =
+ observation.tagCount() == 0 // Must have at least one tag
+ || (observation.tagCount() == 1
+ && observation.ambiguity() > maxAmbiguity) // Cannot be high ambiguity
+ || Math.abs(observation.pose().getZ())
+ > maxZError // Must have realistic Z coordinate
+
+ // Must be within the field boundaries
+ || observation.pose().getX() < 0.0
+ || observation.pose().getX() > APRILTAG_LAYOUT.getFieldLength()
+ || observation.pose().getY() < 0.0
+ || observation.pose().getY() > APRILTAG_LAYOUT.getFieldWidth();
+
+ // Add pose to log
+ robotPoses.add(observation.pose());
+ if (rejectPose) {
+ robotPosesRejected.add(observation.pose());
+ } else {
+ robotPosesAccepted.add(observation.pose());
+ }
+
+ // Skip if rejected
+ if (rejectPose) {
+ continue;
+ }
+
+ // Calculate standard deviations
+ double stdDevFactor =
+ (Math.pow(observation.averageTagDistance(), 2.0)) / observation.tagCount();
+ double linearStdDev = linearStdDevBaseline * stdDevFactor;
+ double angularStdDev = angularStdDevBaseline * stdDevFactor;
+
+ if (cameraIndex < cameraStdDevFactors.length) {
+ linearStdDev *= cameraStdDevFactors[cameraIndex];
+ angularStdDev *= cameraStdDevFactors[cameraIndex];
+ }
+
+ SmartDashboard.putNumber("Camera " + cameraIndex + " Pose X", observation.pose().getX());
+ SmartDashboard.putNumber("Camera " + cameraIndex + " Pose Y", observation.pose().getY());
+
+ if (enableVision) {
+ // Send vision observation
+ consumer.addVisionMeasurement(
+ observation.pose().toPose2d(),
+ observation.timestamp(),
+ VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev));
+ }
+ }
+
+ // Log camera datadata
+ Logger.recordOutput(
+ "Vision/Camera" + Integer.toString(cameraIndex) + "/TagPoses",
+ tagPoses.toArray(new Pose3d[tagPoses.size()]));
+ Logger.recordOutput(
+ "Vision/Camera" + Integer.toString(cameraIndex) + "/RobotPoses",
+ robotPoses.toArray(new Pose3d[robotPoses.size()]));
+ Logger.recordOutput(
+ "Vision/Camera" + Integer.toString(cameraIndex) + "/RobotPosesAccepted",
+ robotPosesAccepted.toArray(new Pose3d[robotPosesAccepted.size()]));
+ Logger.recordOutput(
+ "Vision/Camera" + Integer.toString(cameraIndex) + "/RobotPosesRejected",
+ robotPosesRejected.toArray(new Pose3d[robotPosesRejected.size()]));
+ allTagPoses.addAll(tagPoses);
+ allRobotPoses.addAll(robotPoses);
+ allRobotPosesAccepted.addAll(robotPosesAccepted);
+ allRobotPosesRejected.addAll(robotPosesRejected);
+ }
+
+ // Log summary data
+ Logger.recordOutput(
+ "Vision/Summary/TagPoses", allTagPoses.toArray(new Pose3d[allTagPoses.size()]));
+ Logger.recordOutput(
+ "Vision/Summary/RobotPoses", allRobotPoses.toArray(new Pose3d[allRobotPoses.size()]));
+ Logger.recordOutput(
+ "Vision/Summary/RobotPosesAccepted",
+ allRobotPosesAccepted.toArray(new Pose3d[allRobotPosesAccepted.size()]));
+ Logger.recordOutput(
+ "Vision/Summary/RobotPosesRejected",
+ allRobotPosesRejected.toArray(new Pose3d[allRobotPosesRejected.size()]));
+ }
+
+ @FunctionalInterface
+ public static interface VisionConsumer {
+ public void addVisionMeasurement(
+ Pose2d visionRobotPoseMeters,
+ double timestampSeconds,
+ Matrix visionMeasurementStdDevs);
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
new file mode 100644
index 0000000..a0e82f8
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -0,0 +1,52 @@
+package frc.robot.subsystems.vision;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.robot.util.Statics;
+import java.nio.file.Paths;
+import java.util.Optional;
+import org.photonvision.PhotonPoseEstimator.ConstrainedSolvepnpParams;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+
+public final class VisionConstants {
+ public static final double CAMERA_FPS = 30;
+
+ public static final AprilTagFieldLayout APRILTAG_LAYOUT =
+ Statics.initOrDefault(
+ () ->
+ new AprilTagFieldLayout(
+ Paths.get(Filesystem.getDeployDirectory().getAbsolutePath(), "reeftags.json")),
+ () -> AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded));
+
+ public static final PoseStrategy MULTI_TAG_POSE_STRATEGY =
+ PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR;
+ public static final PoseStrategy SINGLE_TAG_POSE_STRATEGY = PoseStrategy.PNP_DISTANCE_TRIG_SOLVE;
+ public static final Optional CONSTRAINED_SOLVEPNP_PARAMS =
+ Optional.of(new ConstrainedSolvepnpParams(false, 10));
+
+ public static final String[] CAMERA_NAMES = new String[] {"Left", "Right"};
+ public static final Transform3d[] ROBOT_TO_CAMERAS =
+ new Transform3d[] {
+ new Transform3d(
+ Units.inchesToMeters(11.58),
+ Units.inchesToMeters(11.189),
+ Units.inchesToMeters(8.25),
+ new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(-20))),
+ new Transform3d(
+ Units.inchesToMeters(11.58),
+ Units.inchesToMeters(-11.189),
+ Units.inchesToMeters(8.25),
+ new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(15)))
+ };
+
+ public static final double maxAmbiguity = 0.3;
+ public static final double maxZError = 0.5;
+ public static final double linearStdDevBaseline = Units.inchesToMeters(5);
+ public static final double angularStdDevBaseline = Units.degreesToRadians(10);
+
+ public static final double[] cameraStdDevFactors = new double[] {1.2, 1.2};
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java
new file mode 100644
index 0000000..464238f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java
@@ -0,0 +1,38 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.vision;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import org.littletonrobotics.junction.AutoLog;
+
+@FunctionalInterface
+public interface VisionIO {
+ @AutoLog
+ public static class VisionIOInputs {
+ public boolean connected = false;
+ public PoseObservation[] poseObservations = new PoseObservation[0];
+ public int[] tagIds = new int[0];
+ }
+
+ /** Represents a robot pose sample used for pose estimation. */
+ public static record PoseObservation(
+ double timestamp,
+ Pose3d pose,
+ double ambiguity,
+ int tagCount,
+ double averageTagDistance,
+ PoseObservationType type) {}
+
+ public static enum PoseObservationType {
+ MEGATAG_1,
+ MEGATAG_2,
+ PHOTONVISION
+ }
+
+ public void updateInputs(VisionIOInputs inputs);
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
new file mode 100644
index 0000000..1918cd6
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
@@ -0,0 +1,116 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.vision;
+
+import static frc.robot.subsystems.vision.VisionConstants.*;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import java.util.HashSet;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Set;
+import org.photonvision.PhotonCamera;
+
+/** IO implementation for real PhotonVision hardware. */
+public class VisionIOPhotonVision implements VisionIO {
+ protected final PhotonCamera camera;
+ protected final Transform3d robotToCamera;
+
+ /**
+ * Creates a new VisionIOPhotonVision.
+ *
+ * @param name The configured name of the camera.
+ * @param rotationSupplier The 3D position of the camera relative to the robot.
+ */
+ public VisionIOPhotonVision(String name, Transform3d robotToCamera) {
+ camera = new PhotonCamera(name);
+ this.robotToCamera = robotToCamera;
+ }
+
+ @Override
+ public void updateInputs(VisionIOInputs inputs) {
+ inputs.connected = camera.isConnected();
+
+ // Read new camera observations
+ Set tagIds = new HashSet<>();
+ List poseObservations = new LinkedList<>();
+ for (var result : camera.getAllUnreadResults()) {
+ // Update latest target observation
+
+ // Add pose observation
+ if (result.multitagResult.isPresent()) { // Multitag result
+ var multitagResult = result.multitagResult.get();
+
+ // Calculate robot pose
+ Transform3d fieldToCamera = multitagResult.estimatedPose.best;
+ Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
+ Pose3d robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
+
+ // Calculate average tag distance
+ double totalTagDistance = 0.0;
+ for (var target : result.targets) {
+ totalTagDistance += target.bestCameraToTarget.getTranslation().getNorm();
+ }
+
+ // Add tag IDs
+ tagIds.addAll(multitagResult.fiducialIDsUsed);
+
+ // Add observation
+ poseObservations.add(
+ new PoseObservation(
+ result.getTimestampSeconds(), // Timestamp
+ robotPose, // 3D pose estimate
+ multitagResult.estimatedPose.ambiguity, // Ambiguity
+ multitagResult.fiducialIDsUsed.size(), // Tag count
+ totalTagDistance / result.targets.size(), // Average tag distance
+ PoseObservationType.PHOTONVISION)); // Observation type
+
+ } else if (!result.targets.isEmpty()) { // Single tag result
+ var target = result.targets.get(0);
+
+ // Calculate robot pose
+ var tagPose = APRILTAG_LAYOUT.getTagPose(target.fiducialId);
+ if (tagPose.isPresent()) {
+ Transform3d fieldToTarget =
+ new Transform3d(tagPose.get().getTranslation(), tagPose.get().getRotation());
+ Transform3d cameraToTarget = target.bestCameraToTarget;
+ Transform3d fieldToCamera = fieldToTarget.plus(cameraToTarget.inverse());
+ Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
+ Pose3d robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
+
+ // Add tag ID
+ tagIds.add((short) target.fiducialId);
+
+ // Add observation
+ poseObservations.add(
+ new PoseObservation(
+ result.getTimestampSeconds(), // Timestamp
+ robotPose, // 3D pose estimate
+ target.poseAmbiguity, // Ambiguity
+ 1, // Tag count
+ cameraToTarget.getTranslation().getNorm(), // Average tag distance
+ PoseObservationType.PHOTONVISION)); // Observation type
+ }
+ }
+ }
+
+ // Save pose observations to inputs object
+ inputs.poseObservations = new PoseObservation[poseObservations.size()];
+ for (int i = 0; i < poseObservations.size(); i++) {
+ inputs.poseObservations[i] = poseObservations.get(i);
+ }
+
+ // Save tag IDs to inputs objects
+ inputs.tagIds = new int[tagIds.size()];
+ int i = 0;
+ for (int id : tagIds) {
+ inputs.tagIds[i++] = id;
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionExt.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionExt.java
new file mode 100644
index 0000000..d7870a4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionExt.java
@@ -0,0 +1,184 @@
+package frc.robot.subsystems.vision;
+
+import static frc.robot.subsystems.vision.VisionConstants.*;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.wpilibj.Timer;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+import java.util.function.DoubleFunction;
+import lombok.val;
+import org.photonvision.EstimatedRobotPose;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonPoseEstimator;
+import org.photonvision.targeting.MultiTargetPNPResult;
+import org.photonvision.targeting.PhotonPipelineResult;
+
+public final class VisionIOPhotonVisionExt implements VisionIO {
+ // Pose buffer of SwerveDrivePoseEstimator lasts for 1.5 seconds
+ private static final double LATENCY_CUTOFF = 1.5;
+ protected final PhotonCamera camera;
+ private final Transform3d robotToCamera;
+ private final PhotonPoseEstimator poseEstimator;
+ private final DoubleFunction robotPoseGetter;
+ private final List results = new ArrayList<>(10);
+ private final Set tagIds = new HashSet<>(APRILTAG_LAYOUT.getTags().size());
+
+ /**
+ * Creates a new photonvision camera I/O layer.
+ *
+ * @param idx The index of the camera's name and robot-to-camera
+ * @param robotPose A function that gets the robot's pose at a given timestamp
+ */
+ public VisionIOPhotonVisionExt(int idx, DoubleFunction robotPose) {
+ camera = new PhotonCamera(CAMERA_NAMES[idx]);
+ robotToCamera = ROBOT_TO_CAMERAS[idx];
+ robotPoseGetter = robotPose;
+
+ poseEstimator =
+ new PhotonPoseEstimator(APRILTAG_LAYOUT, MULTI_TAG_POSE_STRATEGY, robotToCamera);
+ poseEstimator.setMultiTagFallbackStrategy(SINGLE_TAG_POSE_STRATEGY);
+ }
+
+ @Override
+ public void updateInputs(VisionIOInputs inputs) {
+ results.clear();
+ tagIds.clear();
+
+ val distCoeffs = camera.getDistCoeffs();
+ val camMatrix = camera.getCameraMatrix();
+
+ for (val update : camera.getAllUnreadResults()) {
+ val timestamp = update.getTimestampSeconds();
+
+ // Skip any vision updates with latency >= 1.5 seconds.
+ if (Timer.getFPGATimestamp() - timestamp > LATENCY_CUTOFF) return;
+
+ val robotPoseAtTime = robotPoseGetter.apply(timestamp);
+ poseEstimator.setLastPose(robotPoseAtTime);
+ poseEstimator.addHeadingData(timestamp, robotPoseAtTime.getRotation());
+
+ val result = poseEstimator.update(update, camMatrix, distCoeffs, CONSTRAINED_SOLVEPNP_PARAMS);
+
+ result.ifPresentOrElse(
+ this::handlePoseEstimation,
+ () -> {
+ if (update.multitagResult.isPresent()) {
+ handleMultitag(update.multitagResult.get(), update);
+ } else if (update.targets.size() > 0) {
+ handleSingleTag(update);
+ }
+ });
+ }
+
+ inputs.connected = camera.isConnected();
+ inputs.tagIds = tagIds.stream().mapToInt(id -> (int) id).toArray();
+ inputs.poseObservations = results.toArray(PoseObservation[]::new);
+ }
+
+ /**
+ * Creates a {@link PoseObservation} from an EstimatedRobotPose and appends it to the list of
+ * results.
+ *
+ * @param estimation The robot pose estimation to convert.
+ */
+ private void handlePoseEstimation(EstimatedRobotPose estimation) {
+ val targets = estimation.targetsUsed;
+ val numTargets = targets.size();
+ val tagsUsed = new HashSet<>(numTargets);
+
+ double ambiguity = 0;
+ double tagDistance = 0;
+
+ for (val target : targets) {
+ val id = target.fiducialId;
+ tagsUsed.add(id);
+
+ // INVARIANT: Because the PhotonPoseEstimator only sees the tags we give it (so
+ // APRILTAG_LAYOUT), we do not need to check if the tags used are present in the
+ // layout.
+ ambiguity += target.getPoseAmbiguity();
+ tagDistance += target.bestCameraToTarget.getTranslation().getNorm();
+ }
+
+ ambiguity /= numTargets;
+ tagDistance /= numTargets;
+
+ val observation =
+ new PoseObservation(
+ estimation.timestampSeconds,
+ estimation.estimatedPose,
+ ambiguity,
+ tagsUsed.size(),
+ tagDistance,
+ PoseObservationType.PHOTONVISION);
+
+ results.add(observation);
+ }
+
+ private void handleMultitag(MultiTargetPNPResult multitag, PhotonPipelineResult result) {
+ // Calculate the robot pose
+ val fieldToCamera = multitag.estimatedPose.best;
+ val fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
+ val robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
+
+ // Calculate the average tag distance
+ double totalTagDistance = 0;
+ for (val target : result.targets) {
+ totalTagDistance += target.bestCameraToTarget.getTranslation().getNorm();
+ }
+
+ // Add all of the tag IDs
+ tagIds.addAll(multitag.fiducialIDsUsed);
+
+ // Add the observation
+ results.add(
+ new PoseObservation(
+ result.getTimestampSeconds(),
+ robotPose,
+ multitag.estimatedPose.ambiguity,
+ multitag.fiducialIDsUsed.size(),
+ totalTagDistance / result.targets.size(),
+ PoseObservationType.PHOTONVISION));
+ }
+
+ private void handleSingleTag(PhotonPipelineResult singletag) {
+ singletag.targets.sort((o1, o2) -> Double.compare(o1.poseAmbiguity, o2.poseAmbiguity));
+
+ for (val target : singletag.targets) {
+ val tagPose = APRILTAG_LAYOUT.getTagPose(target.fiducialId);
+
+ if (tagPose.isPresent()) {
+ // Get the tag pose out of the Optional
+ val targetPose = tagPose.get();
+
+ // Calculate the robot's pose from the camera-to-target and tag pose
+ val cameraToTarget = target.bestCameraToTarget;
+ val fieldToCamera = targetPose.plus(cameraToTarget.inverse());
+ val robotPose = fieldToCamera.plus(robotToCamera.inverse());
+
+ // Add the tag ID
+ tagIds.add((short) target.fiducialId);
+
+ results.add(
+ new PoseObservation(
+ singletag.getTimestampSeconds(),
+ robotPose,
+ target.poseAmbiguity,
+ 1,
+ cameraToTarget.getTranslation().getNorm(),
+ PoseObservationType.PHOTONVISION));
+
+ // Stop evaluating targets
+ return;
+ }
+
+ // Continue until we have a target whose pose does exist
+ continue;
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
new file mode 100644
index 0000000..4ccfef7
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
@@ -0,0 +1,54 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.subsystems.vision;
+
+import static frc.robot.subsystems.vision.VisionConstants.APRILTAG_LAYOUT;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import java.util.function.Supplier;
+import org.photonvision.simulation.PhotonCameraSim;
+import org.photonvision.simulation.SimCameraProperties;
+import org.photonvision.simulation.VisionSystemSim;
+
+/** IO implementation for physics sim using PhotonVision simulator. */
+public class VisionIOPhotonVisionSim extends VisionIOPhotonVision {
+ private static VisionSystemSim visionSim;
+
+ private final Supplier poseSupplier;
+ private final PhotonCameraSim cameraSim;
+
+ /**
+ * Creates a new VisionIOPhotonVisionSim.
+ *
+ * @param name The name of the camera.
+ * @param poseSupplier Supplier for the robot pose to use in simulation.
+ */
+ public VisionIOPhotonVisionSim(
+ String name, Transform3d robotToCamera, Supplier poseSupplier) {
+ super(name, robotToCamera);
+ this.poseSupplier = poseSupplier;
+
+ // Initialize vision sim
+ if (visionSim == null) {
+ visionSim = new VisionSystemSim("main");
+ visionSim.addAprilTags(APRILTAG_LAYOUT);
+ }
+
+ // Add sim camera
+ var cameraProperties = new SimCameraProperties();
+ cameraSim = new PhotonCameraSim(camera, cameraProperties, APRILTAG_LAYOUT);
+ visionSim.addCamera(cameraSim, robotToCamera);
+ }
+
+ @Override
+ public void updateInputs(VisionIOInputs inputs) {
+ visionSim.update(poseSupplier.get());
+ super.updateInputs(inputs);
+ }
+}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/util/AllianceFlipUtil.java b/src/main/java/frc/robot/util/AllianceFlipUtil.java
similarity index 67%
rename from 2025-Robot-Code/src/main/java/frc/robot/util/AllianceFlipUtil.java
rename to src/main/java/frc/robot/util/AllianceFlipUtil.java
index 012c96d..4a1d72c 100644
--- a/2025-Robot-Code/src/main/java/frc/robot/util/AllianceFlipUtil.java
+++ b/src/main/java/frc/robot/util/AllianceFlipUtil.java
@@ -5,47 +5,57 @@
import edu.wpi.first.math.geometry.*;
import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
import frc.robot.FieldConstants;
-
public class AllianceFlipUtil {
+ public static double applyXUnchecked(double x) {
+ return FieldConstants.fieldLength - x;
+ }
public static double applyX(double x) {
return shouldFlip() ? FieldConstants.fieldLength - x : x;
}
+ public static double applyYUnchecked(double y) {
+ return FieldConstants.fieldWidth - y;
+ }
+
public static double applyY(double y) {
return shouldFlip() ? FieldConstants.fieldWidth - y : y;
}
- public static Translation2d apply(Translation2d translation) {
- return new Translation2d(applyX(translation.getX()), applyY(translation.getY()));
+ public static Translation2d applyUnchecked(Translation2d translation) {
+ return new Translation2d(
+ applyXUnchecked(translation.getX()), applyYUnchecked(translation.getX()));
}
- public static Rotation2d apply(Rotation2d rotation) {
- return shouldFlip() ? rotation.rotateBy(Rotation2d.kPi) : rotation;
+ public static Translation2d apply(Translation2d translation) {
+ return shouldFlip() ? applyUnchecked(translation) : translation;
}
- public static Pose2d apply(Pose2d pose) {
- return shouldFlip()
- ? new Pose2d(apply(pose.getTranslation()), apply(pose.getRotation()))
- : pose;
+ public static Rotation2d applyUnchecked(Rotation2d rotation) {
+ return rotation.rotateBy(Rotation2d.k180deg);
}
- public static double applyXUnchecked(double x) {
- return FieldConstants.fieldLength - x;
+ public static Rotation2d apply(Rotation2d rotation) {
+ return shouldFlip() ? applyUnchecked(rotation) : rotation;
}
- public static double applyYUnchecked(double y) {
- return FieldConstants.fieldWidth - y;
+
+ public static Pose2d applyUnchecked(Pose2d pose) {
+ return new Pose2d(applyUnchecked(pose.getTranslation()), applyUnchecked(pose.getRotation()));
}
- public static Translation2d applyUnchecked(Translation2d translation) {
- return new Translation2d(applyXUnchecked(translation.getX()), applyYUnchecked(translation.getY()));
+
+ public static Pose2d apply(Pose2d pose) {
+ return shouldFlip() ? applyUnchecked(pose) : pose;
}
- public static Rotation2d applyUnchecked(Rotation2d rotation) {
- return rotation.rotateBy(Rotation2d.kPi);
+
+ public static Transform2d applyUnchecked(Transform2d transform) {
+ return new Transform2d(-transform.getX(), -transform.getY(), transform.getRotation().times(-1));
}
- public static Pose2d applyUnchecked(Pose2d pose) {
- return new Pose2d(applyUnchecked(pose.getTranslation()), applyUnchecked(pose.getRotation()));
+
+ public static Transform2d apply(Transform2d transform) {
+ return shouldFlip() ? applyUnchecked(transform) : transform;
}
public static Translation3d apply(Translation3d translation) {
@@ -62,7 +72,6 @@ public static Pose3d apply(Pose3d pose) {
}
public static boolean shouldFlip() {
- return DriverStation.getAlliance().isPresent()
- && DriverStation.getAlliance().get() == DriverStation.Alliance.Red;
+ return DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
}
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/util/Allocated.java b/src/main/java/frc/robot/util/Allocated.java
new file mode 100644
index 0000000..eef2b26
--- /dev/null
+++ b/src/main/java/frc/robot/util/Allocated.java
@@ -0,0 +1,21 @@
+package frc.robot.util;
+
+import java.util.function.Supplier;
+import lombok.AllArgsConstructor;
+
+@AllArgsConstructor
+public class Allocated implements Supplier {
+ private T value;
+
+ @Override
+ public T get() {
+ return value;
+ }
+
+ public T set(T newValue) {
+ final T oldValue = this.value;
+ this.value = newValue;
+
+ return oldValue;
+ }
+}
diff --git a/src/main/java/frc/robot/util/DeltaTimeCalculator.java b/src/main/java/frc/robot/util/DeltaTimeCalculator.java
new file mode 100644
index 0000000..5aa89da
--- /dev/null
+++ b/src/main/java/frc/robot/util/DeltaTimeCalculator.java
@@ -0,0 +1,16 @@
+package frc.robot.util;
+
+import edu.wpi.first.wpilibj.RobotController;
+import lombok.val;
+
+public final class DeltaTimeCalculator {
+ private double lastTimestamp = RobotController.getFPGATime() / 1e6;
+
+ public double calculate() {
+ val newTimestamp = RobotController.getFPGATime() / 1e6;
+ val delta = newTimestamp - lastTimestamp;
+ lastTimestamp = newTimestamp;
+
+ return delta;
+ }
+}
diff --git a/2025-Robot-Code/src/main/java/frc/robot/util/Elastic.java b/src/main/java/frc/robot/util/Elastic.java
similarity index 97%
rename from 2025-Robot-Code/src/main/java/frc/robot/util/Elastic.java
rename to src/main/java/frc/robot/util/Elastic.java
index 25c8f81..b3d7627 100644
--- a/2025-Robot-Code/src/main/java/frc/robot/util/Elastic.java
+++ b/src/main/java/frc/robot/util/Elastic.java
@@ -24,6 +24,19 @@ public final class Elastic {
selectedTabTopic.publish(PubSubOption.keepDuplicates(true));
private static final ObjectMapper objectMapper = new ObjectMapper();
+ /**
+ * Represents the possible levels of notifications for the Elastic dashboard. These levels are
+ * used to indicate the severity or type of notification.
+ */
+ public enum NotificationLevel {
+ /** Informational Message */
+ INFO,
+ /** Warning message */
+ WARNING,
+ /** Error message */
+ ERROR
+ }
+
/**
* Sends an notification to the Elastic dashboard. The notification is serialized as a JSON string
* before being published.
@@ -373,18 +386,5 @@ public Notification withNoAutoDismiss() {
setDisplayTimeMillis(0);
return this;
}
-
- /**
- * Represents the possible levels of notifications for the Elastic dashboard. These levels are
- * used to indicate the severity or type of notification.
- */
- public enum NotificationLevel {
- /** Informational Message */
- INFO,
- /** Warning message */
- WARNING,
- /** Error message */
- ERROR
- }
}
}
diff --git a/src/main/java/frc/robot/util/Lazy.java b/src/main/java/frc/robot/util/Lazy.java
new file mode 100644
index 0000000..ac7666f
--- /dev/null
+++ b/src/main/java/frc/robot/util/Lazy.java
@@ -0,0 +1,21 @@
+package frc.robot.util;
+
+import java.util.function.Supplier;
+
+public final class Lazy implements Supplier {
+ private T value = null;
+ private final Supplier supplier;
+
+ public Lazy(Supplier supplier) {
+ this.supplier = supplier;
+ }
+
+ @Override
+ public T get() {
+ if (value == null) {
+ value = supplier.get();
+ }
+
+ return value;
+ }
+}
diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java
new file mode 100644
index 0000000..1d420a7
--- /dev/null
+++ b/src/main/java/frc/robot/util/LocalADStarAK.java
@@ -0,0 +1,141 @@
+// Copyright (c) 2025 FRC 6324 The Blue Devils
+
+package frc.robot.util;
+
+import com.pathplanner.lib.path.GoalEndState;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.path.PathPoint;
+import com.pathplanner.lib.pathfinding.LocalADStar;
+import edu.wpi.first.math.Pair;
+import edu.wpi.first.math.geometry.Translation2d;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import lombok.val;
+import org.littletonrobotics.junction.LogTable;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
+
+/**
+ * A helper class which wrapps pathplanner's AD* ({@link LocalADStar}) implementation with logging
+ * enabled for use with AdvantageKit's log replay. Users not using the AdvantageKit logging
+ * framework should not use this class; instead, use the regular {@link LocalADStar}
+ */
+public class LocalADStarAK extends LocalADStar implements LoggableInputs {
+ private boolean isNewPathAvailable = false;
+ private List currentPathPoints = Collections.emptyList();
+
+ /**
+ * Get if a new path has been calculated since the last time a path was retrieved
+ *
+ * @return True if a new path is available
+ */
+ @Override
+ public boolean isNewPathAvailable() {
+ if (!Logger.hasReplaySource()) {
+ isNewPathAvailable = super.isNewPathAvailable();
+ }
+
+ Logger.processInputs("LocalADStarAK", this);
+ return isNewPathAvailable;
+ }
+
+ /**
+ * Get the most recently calculated path
+ *
+ * @param constraints The path constraints to use when creating the path
+ * @param goalEndState The goal end state to use when creating the path
+ * @return The PathPlannerPath created from the points calculated by the pathfinder
+ */
+ @Override
+ public PathPlannerPath getCurrentPath(PathConstraints constraints, GoalEndState goalEndState) {
+ if (!Logger.hasReplaySource()) {
+ PathPlannerPath currentPath = super.getCurrentPath(constraints, goalEndState);
+
+ if (currentPath != null) {
+ currentPathPoints = currentPath.getAllPathPoints();
+ } else {
+ currentPathPoints = Collections.emptyList();
+ }
+ }
+
+ Logger.processInputs("LocalADStarAK", this);
+
+ if (currentPathPoints.isEmpty()) {
+ return null;
+ }
+
+ return PathPlannerPath.fromPathPoints(currentPathPoints, constraints, goalEndState);
+ }
+
+ /**
+ * Set the start position to pathfind from
+ *
+ * @param startPosition Start position on the field. If this is within an obstacle it will be
+ * moved to the nearest non-obstacle node.
+ */
+ @Override
+ public void setStartPosition(Translation2d startPosition) {
+ if (!Logger.hasReplaySource()) {
+ super.setStartPosition(startPosition);
+ }
+ }
+
+ /**
+ * Set the goal position to pathfind to
+ *
+ * @param goalPosition Goal position on the field. f this is within an obstacle it will be moved
+ * to the nearest non-obstacle node.
+ */
+ @Override
+ public void setGoalPosition(Translation2d goalPosition) {
+ if (!Logger.hasReplaySource()) {
+ super.setGoalPosition(goalPosition);
+ }
+ }
+
+ /**
+ * Set the dynamic obstacles that should be avoided while pathfinding.
+ *
+ * @param obs A List of Translation2d pairs representing obstacles. Each Translation2d represents
+ * opposite corners of a bounding box.
+ * @param currentRobotPos The current position of the robot. This is needed to change the start
+ * position of the path to properly avoid obstacles
+ */
+ @Override
+ public void setDynamicObstacles(
+ List> obs, Translation2d currentRobotPos) {
+ if (!Logger.hasReplaySource()) {
+ super.setDynamicObstacles(obs, currentRobotPos);
+ }
+ }
+
+ @Override
+ public void toLog(LogTable table) {
+ table.put("IsNewPathAvailable", isNewPathAvailable);
+
+ val pointsLogged = new double[currentPathPoints.size() * 2];
+ int idx = 0;
+ for (val point : currentPathPoints) {
+ pointsLogged[idx] = point.position.getX();
+ pointsLogged[idx + 1] = point.position.getY();
+ idx += 2;
+ }
+
+ table.put("CurrentPathPoints", pointsLogged);
+ }
+
+ @Override
+ public void fromLog(LogTable table) {
+ isNewPathAvailable = table.get("IsNewPathAvailable", false);
+ val pointsLogged = table.get("CurrentPathPoints", new double[0]);
+
+ List pathPoints = new ArrayList<>(pointsLogged.length / 2);
+ for (int i = 0; i < pointsLogged.length; i += 2) {
+ pathPoints.add(new PathPoint(new Translation2d(pointsLogged[i], pointsLogged[i + 1]), null));
+ }
+
+ currentPathPoints = pathPoints;
+ }
+}
diff --git a/src/main/java/frc/robot/util/LoggedTunableNumber.java b/src/main/java/frc/robot/util/LoggedTunableNumber.java
new file mode 100644
index 0000000..06d5133
--- /dev/null
+++ b/src/main/java/frc/robot/util/LoggedTunableNumber.java
@@ -0,0 +1,123 @@
+// Copyright (c) 2023 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.util;
+
+import frc.robot.Constants;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.function.Consumer;
+import java.util.function.DoubleSupplier;
+import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
+
+/**
+ * Class for a tunable number. Gets value from dashboard in tuning mode, returns default if not or
+ * value not in dashboard.
+ */
+public class LoggedTunableNumber implements DoubleSupplier {
+ private static final String tableKey = "TunableNumbers";
+
+ private final String key;
+ private boolean hasDefault = false;
+ private double defaultValue;
+ private LoggedNetworkNumber dashboardNumber;
+ private final Map lastHasChangedValues = new HashMap<>();
+
+ /**
+ * Create a new LoggedTunableNumber
+ *
+ * @param dashboardKey Key on dashboard
+ */
+ public LoggedTunableNumber(String dashboardKey) {
+ this.key = tableKey + "/" + dashboardKey;
+ }
+
+ /**
+ * Create a new LoggedTunableNumber with the default value
+ *
+ * @param dashboardKey Key on dashboard
+ * @param defaultValue Default value
+ */
+ public LoggedTunableNumber(String dashboardKey, double defaultValue) {
+ this(dashboardKey);
+ initDefault(defaultValue);
+ }
+
+ /**
+ * Set the default value of the number. The default value can only be set once.
+ *
+ * @param defaultValue The default value
+ */
+ public void initDefault(double defaultValue) {
+ if (!hasDefault) {
+ hasDefault = true;
+ this.defaultValue = defaultValue;
+ if (Constants.TUNING_MODE) {
+ dashboardNumber = new LoggedNetworkNumber(key, defaultValue);
+ }
+ }
+ }
+
+ /**
+ * Get the current value, from dashboard if available and in tuning mode.
+ *
+ * @return The current value
+ */
+ public double get() {
+ if (!hasDefault) {
+ return 0.0;
+ } else {
+ return Constants.TUNING_MODE ? dashboardNumber.get() : defaultValue;
+ }
+ }
+
+ /**
+ * Checks whether the number has changed since our last check
+ *
+ * @param id Unique identifier for the caller to avoid conflicts when shared between multiple
+ * objects. Recommended approach is to pass the result of "hashCode()"
+ * @return True if the number has changed since the last time this method was called, false
+ * otherwise.
+ */
+ public boolean hasChanged(int id) {
+ double currentValue = get();
+ Double lastValue = lastHasChangedValues.get(id);
+ if (lastValue == null || currentValue != lastValue) {
+ lastHasChangedValues.put(id, currentValue);
+ return true;
+ }
+
+ return false;
+ }
+
+ /**
+ * Runs action if any of the tunableNumbers have changed
+ *
+ * @param id Unique identifier for the caller to avoid conflicts when shared between multiple *
+ * objects. Recommended approach is to pass the result of "hashCode()"
+ * @param action Callback to run when any of the tunable numbers have changed. Access tunable
+ * numbers in order inputted in method
+ * @param tunableNumbers All tunable numbers to check
+ */
+ public static void ifChanged(
+ int id, Consumer action, LoggedTunableNumber... tunableNumbers) {
+ if (Arrays.stream(tunableNumbers).anyMatch(tunableNumber -> tunableNumber.hasChanged(id))) {
+ action.accept(Arrays.stream(tunableNumbers).mapToDouble(LoggedTunableNumber::get).toArray());
+ }
+ }
+
+ /** Runs action if any of the tunableNumbers have changed */
+ public static void ifChanged(int id, Runnable action, LoggedTunableNumber... tunableNumbers) {
+ ifChanged(id, values -> action.run(), tunableNumbers);
+ }
+
+ @Override
+ public double getAsDouble() {
+ return get();
+ }
+}
diff --git a/src/main/java/frc/robot/util/LoggedTunablePID.java b/src/main/java/frc/robot/util/LoggedTunablePID.java
new file mode 100644
index 0000000..07bb8ad
--- /dev/null
+++ b/src/main/java/frc/robot/util/LoggedTunablePID.java
@@ -0,0 +1,46 @@
+package frc.robot.util;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+public class LoggedTunablePID extends ProfiledPIDController {
+ @SuppressWarnings("unused")
+ private final String name;
+
+ private final LoggedTunableNumber kP, kI, kD, iZone, maxV, maxA;
+
+ public LoggedTunablePID(String name, double p, double i, double d, double maxV, double maxA) {
+ this(name, p, i, d, maxV, maxA, Double.POSITIVE_INFINITY);
+ }
+
+ public LoggedTunablePID(
+ String name, double p, double i, double d, double iZone, double maxV, double maxA) {
+ super(p, i, d, new TrapezoidProfile.Constraints(maxV, maxA));
+ setIZone(iZone);
+
+ this.name = name;
+
+ kP = new LoggedTunableNumber(name + "/P", p);
+ kI = new LoggedTunableNumber(name + "/I", i);
+ kD = new LoggedTunableNumber(name + "/D", d);
+ this.iZone = new LoggedTunableNumber(name + "/iZone", iZone);
+
+ this.maxV = new LoggedTunableNumber(name + "/MaxVelocity", maxV);
+ this.maxA = new LoggedTunableNumber(name + "/MaxAcceleration", maxA);
+ }
+
+ public void updatePID() {
+ // If changed, update controller constants from Tuneable Numbers
+ if (kP.hasChanged(hashCode()) || kI.hasChanged(hashCode()) || kD.hasChanged(hashCode())) {
+ setPID(kP.get(), kI.get(), kD.get());
+ }
+
+ if (iZone.hasChanged(hashCode())) {
+ setIZone(iZone.get());
+ }
+
+ if (maxV.hasChanged(hashCode()) || maxA.hasChanged(hashCode())) {
+ setConstraints(new TrapezoidProfile.Constraints(maxV.get(), maxA.get()));
+ }
+ }
+}
diff --git a/src/main/java/frc/robot/util/PositionUtils.java b/src/main/java/frc/robot/util/PositionUtils.java
new file mode 100644
index 0000000..d32c8f0
--- /dev/null
+++ b/src/main/java/frc/robot/util/PositionUtils.java
@@ -0,0 +1,22 @@
+package frc.robot.util;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
+import frc.robot.subsystems.drive.Drive;
+
+public final class PositionUtils {
+ public static double getDistance(Pose2d from, Pose2d to) {
+ return from.getTranslation().getDistance(to.getTranslation());
+ }
+
+ public static double getDistance(Drive drive, Pose2d to) {
+ return getDistance(drive.getPose(), to);
+ }
+
+ public static boolean isNear(Pose2d pose1, Pose2d pose2, double tolerance) {
+ return MathUtil.isNear(pose1.getX(), pose2.getX(), tolerance)
+ && MathUtil.isNear(pose1.getY(), pose2.getY(), tolerance)
+ && MathUtil.isNear(
+ pose1.getRotation().getRadians(), pose1.getRotation().getRadians(), tolerance);
+ }
+}
diff --git a/src/main/java/frc/robot/util/Statics.java b/src/main/java/frc/robot/util/Statics.java
new file mode 100644
index 0000000..bd83cff
--- /dev/null
+++ b/src/main/java/frc/robot/util/Statics.java
@@ -0,0 +1,26 @@
+package frc.robot.util;
+
+import java.util.function.Supplier;
+import lombok.val;
+
+public final class Statics {
+ /** An interface that represents a function that may throw any exception. */
+ @FunctionalInterface
+ public interface ThrowingSupplier {
+ public T get() throws Exception;
+ }
+
+ public static final T initOrDefault(ThrowingSupplier init, Supplier defaultSupplier) {
+ try {
+ return init.get();
+ } catch (Exception e) {
+ val throwable = e.fillInStackTrace();
+
+ System.err.println("=".repeat(50) + "\nError occurred: " + throwable.getMessage());
+ throwable.printStackTrace();
+ System.err.println("Not a critical error, robot code continues" + "=".repeat(50));
+ }
+
+ return defaultSupplier.get();
+ }
+}
diff --git a/src/main/java/frc/robot/util/io/talon/TalonFXIO.java b/src/main/java/frc/robot/util/io/talon/TalonFXIO.java
new file mode 100644
index 0000000..d051158
--- /dev/null
+++ b/src/main/java/frc/robot/util/io/talon/TalonFXIO.java
@@ -0,0 +1,34 @@
+package frc.robot.util.io.talon;
+
+import static edu.wpi.first.units.Units.*;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Voltage;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface TalonFXIO {
+ public default void setDutyCycle(double output) {}
+
+ public default void setPosition(Angle position) {}
+
+ public default void stopMotor() {}
+
+ public default void updateInputs(TalonFXIOInputs inputs) {}
+
+ @AutoLog
+ public static class TalonFXIOInputs {
+ public boolean connected = false;
+ public Angle position = Rotations.of(0);
+ public AngularVelocity velocity = RotationsPerSecond.of(0);
+ public AngularAcceleration acceleration = RotationsPerSecondPerSecond.of(0);
+ public Voltage appliedVoltage = Volts.of(0);
+ public Current supplyCurrent = Amps.of(0),
+ statorCurrent = Amps.of(0),
+ torqueCurrent = Amps.of(0);
+ public Temperature temperature = Celsius.of(0);
+ }
+}
diff --git a/src/main/java/frc/robot/util/io/talon/TalonFXIOImpl.java b/src/main/java/frc/robot/util/io/talon/TalonFXIOImpl.java
new file mode 100644
index 0000000..c84ae41
--- /dev/null
+++ b/src/main/java/frc/robot/util/io/talon/TalonFXIOImpl.java
@@ -0,0 +1,104 @@
+package frc.robot.util.io.talon;
+
+import static frc.robot.util.phoenix.PhoenixUtil.tryUntilOk;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.controls.PositionTorqueCurrentFOC;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Voltage;
+
+public class TalonFXIOImpl implements TalonFXIO {
+ protected final TalonFX talon;
+ private final DutyCycleOut dutyCycleOut = new DutyCycleOut(0).withEnableFOC(true);
+ private final PositionTorqueCurrentFOC positionControl = new PositionTorqueCurrentFOC(0);
+ private final CANBus canBus;
+
+ private final StatusSignal position;
+ private final StatusSignal velocity;
+ private final StatusSignal acceleration;
+ private final StatusSignal voltage;
+ private final StatusSignal supplyCurrent, statorCurrent, torqueCurrent;
+ private final StatusSignal temperature;
+ private final StatusSignal pidSlot;
+
+ private final BaseStatusSignal[] signals;
+
+ public TalonFXIOImpl(int port, CANBus bus) {
+ talon = new TalonFX(port, bus);
+ canBus = bus;
+
+ position = talon.getPosition();
+ velocity = talon.getVelocity();
+ acceleration = talon.getAcceleration();
+ voltage = talon.getMotorVoltage();
+ supplyCurrent = talon.getSupplyCurrent();
+ statorCurrent = talon.getStatorCurrent();
+ torqueCurrent = talon.getTorqueCurrent();
+ temperature = talon.getDeviceTemp();
+ pidSlot = talon.getClosedLoopSlot();
+
+ signals =
+ new BaseStatusSignal[] {
+ position,
+ velocity,
+ acceleration,
+ voltage,
+ supplyCurrent,
+ statorCurrent,
+ torqueCurrent,
+ temperature,
+ pidSlot
+ };
+ }
+
+ public TalonFXIOImpl(int port, CANBus bus, TalonFXConfiguration config) {
+ this(port, bus);
+
+ tryUntilOk(5, () -> talon.getConfigurator().apply(config));
+ }
+
+ @Override
+ public void stopMotor() {
+ talon.stopMotor();
+ }
+
+ @Override
+ public void setDutyCycle(double output) {
+ talon.setControl(dutyCycleOut.withOutput(output));
+ }
+
+ @Override
+ public void setPosition(Angle position) {
+ talon.setControl(positionControl.withPosition(position));
+ }
+
+ @Override
+ public void updateInputs(TalonFXIOInputs inputs) {
+ StatusCode result;
+ if (canBus.isNetworkFD()) {
+ result = BaseStatusSignal.waitForAll(0.005, signals);
+ } else {
+ result = BaseStatusSignal.refreshAll(signals);
+ }
+
+ inputs.connected = result.isOK();
+ inputs.position = position.getValue();
+ inputs.velocity = velocity.getValue();
+ inputs.acceleration = acceleration.getValue();
+ inputs.appliedVoltage = voltage.getValue();
+ inputs.supplyCurrent = supplyCurrent.getValue();
+ inputs.statorCurrent = statorCurrent.getValue();
+ inputs.torqueCurrent = torqueCurrent.getValue();
+ inputs.temperature = temperature.getValue();
+ }
+}
diff --git a/src/main/java/frc/robot/util/io/talon/TalonFXIOSimImpl.java b/src/main/java/frc/robot/util/io/talon/TalonFXIOSimImpl.java
new file mode 100644
index 0000000..b3da713
--- /dev/null
+++ b/src/main/java/frc/robot/util/io/talon/TalonFXIOSimImpl.java
@@ -0,0 +1,70 @@
+package frc.robot.util.io.talon;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.sim.TalonFXSimState;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public final class TalonFXIOSimImpl extends TalonFXIOImpl {
+ private final DCMotorSim physicsSim;
+ private double lastTimestamp = Timer.getTimestamp();
+ private final TalonFXSimState simState;
+
+ public TalonFXIOSimImpl(int port, CANBus bus, boolean enableFOC, double moi, double reduction) {
+ super(port, bus);
+ simState = talon.getSimState();
+
+ if (!Utils.isSimulation()) {
+ DriverStation.reportError("Attempting to create TalonFX sim on non-sim context", true);
+ }
+
+ DCMotor motor =
+ (enableFOC ? DCMotor.getKrakenX60(1) : DCMotor.getKrakenX60Foc(1)).withReduction(reduction);
+
+ physicsSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(motor, moi, reduction), motor);
+ }
+
+ public TalonFXIOSimImpl(
+ int port,
+ CANBus bus,
+ boolean enableFOC,
+ TalonFXConfiguration config,
+ double moi,
+ double reduction) {
+ super(port, bus, config);
+ simState = talon.getSimState();
+
+ if (!Utils.isSimulation()) {
+ DriverStation.reportError("Attempting to create TalonFX sim on non-sim context", true);
+ }
+
+ DCMotor motor =
+ (enableFOC ? DCMotor.getKrakenX60(1) : DCMotor.getKrakenX60Foc(1)).withReduction(reduction);
+
+ physicsSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(motor, moi, reduction), motor);
+ }
+
+ @Override
+ public void updateInputs(TalonFXIOInputs inputs) {
+ simState.setSupplyVoltage(RobotController.getBatteryVoltage());
+ double appliedVoltage = simState.getMotorVoltage();
+ physicsSim.setInputVoltage(appliedVoltage);
+
+ var newTimestamp = Timer.getTimestamp();
+ physicsSim.update(newTimestamp - lastTimestamp);
+ lastTimestamp = newTimestamp;
+
+ simState.setRawRotorPosition(physicsSim.getAngularPosition());
+ simState.setRotorVelocity(physicsSim.getAngularVelocity());
+ simState.setRotorAcceleration(physicsSim.getAngularAcceleration());
+
+ // use the updates StatusSignals after running the physics sim
+ super.updateInputs(inputs);
+ }
+}
diff --git a/src/main/java/frc/robot/util/phoenix/PhoenixUtil.java b/src/main/java/frc/robot/util/phoenix/PhoenixUtil.java
new file mode 100644
index 0000000..b0c9052
--- /dev/null
+++ b/src/main/java/frc/robot/util/phoenix/PhoenixUtil.java
@@ -0,0 +1,55 @@
+// Copyright (c) 2021-2025 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+package frc.robot.util.phoenix;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.Utils;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import java.util.function.Supplier;
+
+public class PhoenixUtil {
+ /** Attempts to run the command until no error is produced. */
+ public static void tryUntilOk(int maxAttempts, Supplier command, String message) {
+ StatusCode error = StatusCode.StatusCodeNotInitialized;
+
+ for (int i = 0; i < maxAttempts; i++) {
+ error = command.get();
+ if (error.isOK()) return;
+ }
+
+ DriverStation.reportError(message + error.getDescription(), false);
+ }
+
+ public static void tryUntilOk(int maxAttempts, Supplier command) {
+ for (int i = 0; i < maxAttempts; i++) {
+ var status = command.get();
+ if (status.isOK()) break;
+ }
+ }
+
+ /**
+ * Gets the average timestamp of many Phoenix 6 Status Signals.
+ *
+ * @return The average timestamp (in FPGA time)
+ */
+ public static double averageTimestamp(BaseStatusSignal firstSignal, BaseStatusSignal... signals) {
+ double timestamp = currentToFPGATime(firstSignal.getTimestamp().getTime());
+
+ for (int i = 0; i < signals.length; i++) {
+ timestamp += currentToFPGATime(signals[i].getTimestamp().getTime());
+ }
+
+ return timestamp / (1 + signals.length);
+ }
+
+ public static double currentToFPGATime(double currentTime) {
+ return (Timer.getFPGATimestamp() - Utils.getCurrentTimeSeconds()) + currentTime;
+ }
+}
diff --git a/tuner-swerve-project.json b/tuner-swerve-project.json
new file mode 100644
index 0000000..38e60f6
--- /dev/null
+++ b/tuner-swerve-project.json
@@ -0,0 +1,244 @@
+{
+ "Version": "1.0.0.0",
+ "LastState": 11,
+ "Modules": [
+ {
+ "ModuleName": "Front Left",
+ "ModuleId": 0,
+ "Encoder": {
+ "Id": 0,
+ "Name": "Front Left Pod",
+ "Model": "CANCoder",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": null,
+ "IsStandaloneFx": false
+ },
+ "SteerMotor": {
+ "Id": 1,
+ "Name": "FL Steer",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "DriveMotor": {
+ "Id": 0,
+ "Name": "FL Drive",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "IsEncoderInverted": false,
+ "IsSteerInverted": true,
+ "SelectedEncoderType": "CANcoder",
+ "EncoderOffset": 0.49609375,
+ "DriveMotorSelectionState": 1,
+ "SteerMotorSelectionState": 1,
+ "SteerEncoderSelectionState": 1,
+ "IsModuleValidationComplete": true,
+ "ValidatedSteerId": 1,
+ "ValidatedDriveId": 0,
+ "ValidatedEncoderId": 0
+ },
+ {
+ "ModuleName": "Front Right",
+ "ModuleId": 1,
+ "Encoder": {
+ "Id": 2,
+ "Name": "Front Right Pod",
+ "Model": "CANCoder",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": null,
+ "IsStandaloneFx": false
+ },
+ "SteerMotor": {
+ "Id": 5,
+ "Name": "FR Steer",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "DriveMotor": {
+ "Id": 4,
+ "Name": "FR Drive",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "IsEncoderInverted": false,
+ "IsSteerInverted": true,
+ "SelectedEncoderType": "CANcoder",
+ "EncoderOffset": 0.26904296875,
+ "DriveMotorSelectionState": 1,
+ "SteerMotorSelectionState": 1,
+ "SteerEncoderSelectionState": 1,
+ "IsModuleValidationComplete": true,
+ "ValidatedSteerId": 5,
+ "ValidatedDriveId": 4,
+ "ValidatedEncoderId": 2
+ },
+ {
+ "ModuleName": "Back Left",
+ "ModuleId": 2,
+ "Encoder": {
+ "Id": 1,
+ "Name": "Back Left Pod",
+ "Model": "CANCoder",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": null,
+ "IsStandaloneFx": false
+ },
+ "SteerMotor": {
+ "Id": 3,
+ "Name": "BL Steer",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "DriveMotor": {
+ "Id": 2,
+ "Name": "BL Drive",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "IsEncoderInverted": false,
+ "IsSteerInverted": true,
+ "SelectedEncoderType": "CANcoder",
+ "EncoderOffset": 0.34912109375,
+ "DriveMotorSelectionState": 1,
+ "SteerMotorSelectionState": 1,
+ "SteerEncoderSelectionState": 1,
+ "IsModuleValidationComplete": true,
+ "ValidatedSteerId": 3,
+ "ValidatedDriveId": 2,
+ "ValidatedEncoderId": 1
+ },
+ {
+ "ModuleName": "Back Right",
+ "ModuleId": 3,
+ "Encoder": {
+ "Id": 4,
+ "Name": "Back Right Pod",
+ "Model": "CANCoder",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": null,
+ "IsStandaloneFx": false
+ },
+ "SteerMotor": {
+ "Id": 7,
+ "Name": "BR Steer",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "DriveMotor": {
+ "Id": 6,
+ "Name": "BR Drive",
+ "Model": "Talon FX vers. C",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": {
+ "Name": "WCP Kraken x60",
+ "FreeSpeedRps": 96.7,
+ "SlipCurrentLimit": 120,
+ "StatorCurrentLimit": 60
+ },
+ "IsStandaloneFx": false
+ },
+ "IsEncoderInverted": false,
+ "IsSteerInverted": true,
+ "SelectedEncoderType": "CANcoder",
+ "EncoderOffset": 0.38232421875,
+ "DriveMotorSelectionState": 1,
+ "SteerMotorSelectionState": 1,
+ "SteerEncoderSelectionState": 1,
+ "IsModuleValidationComplete": true,
+ "ValidatedSteerId": 7,
+ "ValidatedDriveId": 6,
+ "ValidatedEncoderId": 4
+ }
+ ],
+ "SwerveOptions": {
+ "kSpeedAt12Volts": 4.731460295787658,
+ "Gyro": {
+ "Id": 0,
+ "Name": "Pigeon 2 vers. S (Device ID 0)",
+ "Model": "Pigeon 2 vers. S",
+ "CANbus": "95420E7250374E5320202047101110FF",
+ "CANbusFriendly": "canivore0",
+ "SelectedMotorType": null,
+ "IsStandaloneFx": false
+ },
+ "IsValidGyroCANbus": true,
+ "VerticalTrackSizeInches": 23.729,
+ "HorizontalTrackSizeInches": 23.729,
+ "WheelRadiusInches": 2.0,
+ "IsLeftSideInverted": false,
+ "IsRightSideInverted": true,
+ "SwerveModuleType": 4,
+ "SwerveModuleConfiguration": {
+ "ModuleBrand": 4,
+ "DriveRatio": 6.746031746031747,
+ "SteerRatio": 21.428571428571427,
+ "CouplingRatio": 3.5714285714285716,
+ "CustomName": "L2"
+ },
+ "HasVerifiedSteer": true,
+ "SelectedModuleManufacturer": "Swerve Drive Specialties (SDS)",
+ "HasVerifiedDrive": true,
+ "IsValidConfiguration": true
+ }
+}
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
new file mode 100644
index 0000000..2707c2b
--- /dev/null
+++ b/vendordeps/AdvantageKit.json
@@ -0,0 +1,35 @@
+{
+ "fileName": "AdvantageKit.json",
+ "name": "AdvantageKit",
+ "version": "4.1.2",
+ "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+ ],
+ "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+ "javaDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-java",
+ "version": "4.1.2"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-wpilibio",
+ "version": "4.1.2",
+ "skipInvalidPlatforms": false,
+ "isJar": false,
+ "validPlatforms": [
+ "linuxathena",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal",
+ "windowsx86-64"
+ ]
+ }
+ ],
+ "cppDependencies": []
+}
diff --git a/vendordeps/PathplannerLib-2025.2.7.json b/vendordeps/PathplannerLib-2025.2.7.json
new file mode 100644
index 0000000..d0b6939
--- /dev/null
+++ b/vendordeps/PathplannerLib-2025.2.7.json
@@ -0,0 +1,38 @@
+{
+ "fileName": "PathplannerLib-2025.2.7.json",
+ "name": "PathplannerLib",
+ "version": "2025.2.7",
+ "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+ ],
+ "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-java",
+ "version": "2025.2.7"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-cpp",
+ "version": "2025.2.7",
+ "libName": "PathplannerLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal",
+ "linuxathena",
+ "linuxarm32",
+ "linuxarm64"
+ ]
+ }
+ ]
+}
diff --git a/vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-frc2025-latest.json
new file mode 100644
index 0000000..ce44ce4
--- /dev/null
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -0,0 +1,479 @@
+{
+ "fileName": "Phoenix6-frc2025-latest.json",
+ "name": "CTRE-Phoenix (v6)",
+ "version": "25.4.0",
+ "frcYear": "2025",
+ "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+ "mavenUrls": [
+ "https://maven.ctr-electronics.com/release/"
+ ],
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
+ "conflictsWith": [
+ {
+ "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+ "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+ "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-java",
+ "version": "25.4.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "api-cpp",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFXS",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdi",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdle",
+ "version": "25.4.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-cpp",
+ "version": "25.4.0",
+ "libName": "CTRE_Phoenix6_WPI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "25.4.0",
+ "libName": "CTRE_PhoenixTools",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "25.4.0",
+ "libName": "CTRE_Phoenix6_WPISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "25.4.0",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "25.4.0",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "25.4.0",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "25.4.0",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "25.4.0",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFXS",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProTalonFXS",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProPigeon2",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProCANrange",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdi",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProCANdi",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdle",
+ "version": "25.4.0",
+ "libName": "CTRE_SimProCANdle",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ]
+}
diff --git a/2025-Robot-Code/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
similarity index 100%
rename from 2025-Robot-Code/vendordeps/WPILibNewCommands.json
rename to vendordeps/WPILibNewCommands.json
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..f7a03fa
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,71 @@
+{
+ "fileName": "photonlib.json",
+ "name": "photonlib",
+ "version": "v2025.3.1",
+ "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://maven.photonvision.org/repository/internal",
+ "https://maven.photonvision.org/repository/snapshots"
+ ],
+ "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+ "jniDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-cpp",
+ "version": "v2025.3.1",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photonlib-cpp",
+ "version": "v2025.3.1",
+ "libName": "photonlib",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ },
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-cpp",
+ "version": "v2025.3.1",
+ "libName": "photontargeting",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photonlib-java",
+ "version": "v2025.3.1"
+ },
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-java",
+ "version": "v2025.3.1"
+ }
+ ]
+}