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ArnavGuptaOfficialArnavGuptaOfficial
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Should be done...
Should be done...
1 parent 5f67acb commit c3ded38

19 files changed

Lines changed: 100 additions & 144 deletions

‎src/main/java/frc/robot/BuildConstants.java‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -5,12 +5,12 @@ public final class BuildConstants {
55
public static final String MAVEN_GROUP = "";
66
public static final String MAVEN_NAME = "2024RobotCode";
77
public static final String VERSION = "unspecified";
8-
public static final int GIT_REVISION = 358;
9-
public static final String GIT_SHA = "9dfa53aa84b5d502fa0383ae05141e56a77b6c3a";
10-
public static final String GIT_DATE = "2024-10-20 11:22:43 EDT";
11-
public static final String GIT_BRANCH = "main";
12-
public static final String BUILD_DATE = "2025-08-20 14:44:31 EDT";
13-
public static final long BUILD_UNIX_TIME = 1755715471334L;
8+
public static final int GIT_REVISION = 362;
9+
public static final String GIT_SHA = "5f67acbd678534f3e6106efaa3347e553ba0e575";
10+
public static final String GIT_DATE = "2025-09-27 14:24:41 EDT";
11+
public static final String GIT_BRANCH = "2025libraries";
12+
public static final String BUILD_DATE = "2025-10-04 10:47:22 EDT";
13+
public static final long BUILD_UNIX_TIME = 1759589242639L;
1414
public static final int DIRTY = 1;
1515

1616
private BuildConstants() {}

‎src/main/java/frc/robot/RobotContainer.java‎

Lines changed: 7 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@
3838
import frc.robot.commands.AimbotAuto;
3939
import frc.robot.commands.AimbotStatic;
4040
import frc.robot.commands.AimbotTele;
41-
//import frc.robot.commands.AlignToNoteAuto;
41+
// import frc.robot.commands.AlignToNoteAuto;
4242
import frc.robot.commands.AngleShooter;
4343
// import frc.robot.commands.AngleShooterShoot;
4444
import frc.robot.commands.DriveCommands;
@@ -65,35 +65,31 @@
6565
import frc.robot.subsystems.drive.GyroIO;
6666
import frc.robot.subsystems.drive.GyroIOPigeon2;
6767
import frc.robot.subsystems.drive.ModuleIO;
68-
//import frc.robot.subsystems.drive.ModuleIOSim;
68+
// import frc.robot.subsystems.drive.ModuleIOSim;
6969
import frc.robot.subsystems.drive.ModuleIOTalonFX;
7070
import frc.robot.subsystems.drive.VisionIO;
7171
import frc.robot.subsystems.drive.VisionIOLimelight;
7272
import frc.robot.subsystems.elevator.AmpBarIO;
73-
import frc.robot.subsystems.elevator.AmpBarIOSIm;
7473
import frc.robot.subsystems.elevator.AmpBarIOSparkMAX;
75-
//import frc.robot.subsystems.elevator.AmpBarIOSparkMAX;
74+
// import frc.robot.subsystems.elevator.AmpBarIOSparkMAX;
7675
import frc.robot.subsystems.elevator.Elevator;
7776
import frc.robot.subsystems.elevator.ElevatorIO;
78-
import frc.robot.subsystems.elevator.ElevatorIOSim;
7977
import frc.robot.subsystems.elevator.ElevatorIOTalonFX;
8078
import frc.robot.subsystems.intake.Intake;
8179
import frc.robot.subsystems.intake.IntakeRollerIOSparkFlex;
82-
//import frc.robot.subsystems.intake.IntakeRollerIOSim;
83-
//import frc.robot.subsystems.intake.IntakeRollerIOSparkFlex;
80+
// import frc.robot.subsystems.intake.IntakeRollerIOSim;
81+
// import frc.robot.subsystems.intake.IntakeRollerIOSparkFlex;
8482
import frc.robot.subsystems.led.LED;
8583
import frc.robot.subsystems.led.LED_IO;
8684
import frc.robot.subsystems.led.LED_IOCANdle;
87-
import frc.robot.subsystems.led.LED_IOSim;
8885
import frc.robot.subsystems.pivot.Pivot;
8986
import frc.robot.subsystems.pivot.PivotIO;
90-
import frc.robot.subsystems.pivot.PivotIOSim;
9187
import frc.robot.subsystems.pivot.PivotIOTalonFX;
9288
import frc.robot.subsystems.shooter.DistanceSensorIO;
9389
import frc.robot.subsystems.shooter.DistanceSensorIOAnalog;
94-
//import frc.robot.subsystems.shooter.FeederIOSim;
90+
// import frc.robot.subsystems.shooter.FeederIOSim;
9591
import frc.robot.subsystems.shooter.FeederIOTalonFX;
96-
//import frc.robot.subsystems.shooter.FlywheelIOSim;
92+
// import frc.robot.subsystems.shooter.FlywheelIOSim;
9793
import frc.robot.subsystems.shooter.FlywheelIOTalonFX;
9894
import frc.robot.subsystems.shooter.LeafBlowerIO;
9995
import frc.robot.subsystems.shooter.LeafBlowerIOTalonSRX;
@@ -193,7 +189,6 @@ public RobotContainer() {
193189
RobotMap.PivotIDs.LEFT, RobotMap.PivotIDs.RIGHT, RobotMap.PivotIDs.GYRO));
194190
led = new LED(new LED_IOCANdle(20, Constants.CANBUS));
195191
break;
196-
197192

198193
default:
199194
// Replayed robot, disable IO implementations
@@ -364,7 +359,6 @@ public RobotContainer() {
364359
() -> intake.runRollers(Constants.IntakeConstants.APPLIED_VOLTAGE), intake));
365360

366361
// NOTE ALIGNMENT NAMED COMMANDS
367-
368362

369363
NamedCommands.registerCommand("C5", new InstantCommand(() -> drive.setNote(NOTE_POSITIONS.C5)));
370364
NamedCommands.registerCommand("C4", new InstantCommand(() -> drive.setNote(NOTE_POSITIONS.C4)));

‎src/main/java/frc/robot/commands/AlignToAmp.java‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,8 @@
4343
// targetRotation =
4444
// new Rotation2d(
4545
// (Units.degreesToRadians(
46-
// new Rotation2d(FieldConstants.ampCenter.getX(), FieldConstants.ampCenter.getY())
46+
// new Rotation2d(FieldConstants.ampCenter.getX(),
47+
// FieldConstants.ampCenter.getY())
4748
// .getDegrees()
4849
// + 13)));
4950
// pointsToAmp =
@@ -57,7 +58,8 @@
5758
// path =
5859
// new PathPlannerPath(
5960
// pointsToAmp,
60-
// new PathConstraints(3, 3, Units.degreesToRadians(540), Units.degreesToRadians(720)),
61+
// new PathConstraints(3, 3, Units.degreesToRadians(540),
62+
// Units.degreesToRadians(720)),
6163
// new GoalEndState(0, targetRotation, true));
6264
// } else {
6365
// targetRotation =
@@ -83,7 +85,8 @@
8385
// path =
8486
// new PathPlannerPath(
8587
// pointsToAmp,
86-
// new PathConstraints(3, 3, Units.degreesToRadians(540), Units.degreesToRadians(720)),
88+
// new PathConstraints(3, 3, Units.degreesToRadians(540),
89+
// Units.degreesToRadians(720)),
8790
// new GoalEndState(0, targetRotation, true));
8891
// }
8992

‎src/main/java/frc/robot/commands/IntakeNote.java‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,6 @@
55
package frc.robot.commands;
66

77
import edu.wpi.first.wpilibj2.command.Command;
8-
import frc.robot.Constants.LED_STATE;
98
import frc.robot.Constants.NoteState;
109
import frc.robot.subsystems.intake.Intake;
1110
import frc.robot.subsystems.led.LED;
@@ -40,7 +39,7 @@ public void initialize() {
4039
// Called every time the scheduler runs while the command is scheduled.
4140
@Override
4241
public void execute() {
43-
42+
4443
// if (intake.getVolts() < 1 && intake.getAmps() > 38 && intake.getRPM() < 44.14) {
4544
// led.setState(LED_STATE.PURPLE);
4645
// } else {

‎src/main/java/frc/robot/subsystems/drive/Drive.java‎

Lines changed: 4 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -16,9 +16,8 @@
1616
import static edu.wpi.first.units.Units.*;
1717

1818
import com.pathplanner.lib.auto.AutoBuilder;
19-
//import com.pathplanner.lib.commands.FollowPathHolonomic;
19+
// import com.pathplanner.lib.commands.FollowPathHolonomic;
2020
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
21-
import com.pathplanner.lib.path.GoalEndState;
2221
import com.pathplanner.lib.path.PathConstraints;
2322
import com.pathplanner.lib.path.PathPlannerPath;
2423
import com.pathplanner.lib.pathfinding.Pathfinding;
@@ -43,21 +42,17 @@
4342
import edu.wpi.first.wpilibj.DriverStation.Alliance;
4443
import edu.wpi.first.wpilibj.Timer;
4544
import edu.wpi.first.wpilibj2.command.Command;
46-
import edu.wpi.first.wpilibj2.command.InstantCommand;
4745
import edu.wpi.first.wpilibj2.command.SubsystemBase;
4846
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
4947
import frc.robot.Constants;
50-
import frc.robot.Constants.LED_STATE;
5148
import frc.robot.Constants.NOTE_POSITIONS;
52-
import frc.robot.subsystems.led.LED;
5349
import frc.robot.util.AllianceFlipUtil;
5450
import frc.robot.util.FieldConstants;
5551
import frc.robot.util.LimelightHelpers;
5652
import frc.robot.util.LimelightHelpers.PoseEstimate;
5753
import frc.robot.util.LimelightHelpers.RawFiducial;
5854
import frc.robot.util.LocalADStarAK;
5955
import java.util.HashMap;
60-
import java.util.List;
6156
import java.util.Optional;
6257
import org.littletonrobotics.junction.AutoLogOutput;
6358
import org.littletonrobotics.junction.Logger;
@@ -757,7 +752,7 @@ && getCachedNoteTime() != -1
757752
// Rotation2d targetRotation =
758753
// new Rotation2d(target.getX() - getPose().getX(), target.getY() - getPose().getY());
759754

760-
//Logger.recordOutput("Target Note Pose3d", new Pose3d(new Pose2d(target, new Rotation2d())));
755+
// Logger.recordOutput("Target Note Pose3d", new Pose3d(new Pose2d(target, new Rotation2d())));
761756
// List<Translation2d> points =
762757
// PathPlannerPath.bezierFromPoses(
763758
// new Pose2d(getPose().getX(), getPose().getY(), getPose().getRotation()),
@@ -902,7 +897,8 @@ public Pose2d generateClosestChainCoordinate() {
902897

903898
// targetRotation =
904899
// new Rotation2d(
905-
// cachedNoteT2d.getX() - getPose().getX(), cachedNoteT2d.getY() - getPose().getY());
900+
// cachedNoteT2d.getX() - getPose().getX(), cachedNoteT2d.getY() -
901+
// getPose().getY());
906902
// List<Translation2d> pointsToNote;
907903
// Logger.recordOutput("targetPose before change", targetRotation.getDegrees());
908904
// if (DriverStation.getAlliance().get().equals(Alliance.Blue)) {

‎src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -30,9 +30,12 @@ public class GyroIOPigeon2 implements GyroIO {
3030
private final Pigeon2 pigeon = new Pigeon2(0, Constants.CANBUS);
3131
private final StatusSignal<Angle> yaw = pigeon.getYaw();
3232
private final StatusSignal<AngularVelocity> yawVelocity = pigeon.getAngularVelocityZWorld();
33-
private final StatusSignal<LinearAcceleration> accelerationXDegSecSquared = pigeon.getAccelerationX();
34-
private final StatusSignal<LinearAcceleration> accelerationYDegSecSquared = pigeon.getAccelerationY();
35-
private final StatusSignal<LinearAcceleration> accelerationZDegSecSquared = pigeon.getAccelerationZ();
33+
private final StatusSignal<LinearAcceleration> accelerationXDegSecSquared =
34+
pigeon.getAccelerationX();
35+
private final StatusSignal<LinearAcceleration> accelerationYDegSecSquared =
36+
pigeon.getAccelerationY();
37+
private final StatusSignal<LinearAcceleration> accelerationZDegSecSquared =
38+
pigeon.getAccelerationZ();
3639

3740
public GyroIOPigeon2() {
3841
pigeon.getConfigurator().apply(new Pigeon2Configuration());

‎src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,8 @@
2424
// /**
2525
// * Physics sim implementation of module IO.
2626
// *
27-
// * <p>Uses two flywheel sims for the drive and turn motors, with the absolute position initialized
27+
// * <p>Uses two flywheel sims for the drive and turn motors, with the absolute position
28+
// initialized
2829
// * to a random value. The flywheel sims are not physically accurate, but provide a decent
2930
// * approximation for the behavior of the module.
3031
// */
@@ -33,8 +34,8 @@
3334
// private DCMotorSim driveSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004);
3435
// private DCMotorSim turnSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004);
3536

36-
37-
// private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI);
37+
// private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 *
38+
// Math.PI);
3839
// private double driveAppliedVolts = 0.0;
3940
// private double turnAppliedVolts = 0.0;
4041

‎src/main/java/frc/robot/subsystems/elevator/AmpBarIOSparkMAX.java‎

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,16 +1,8 @@
11
package frc.robot.subsystems.elevator;
22

3-
import com.revrobotics.spark.SparkFlex;
3+
import com.revrobotics.spark.SparkClosedLoopController;
44
import com.revrobotics.spark.SparkLowLevel;
5-
import com.revrobotics.spark.SparkLowLevel.MotorType;
65
import com.revrobotics.spark.SparkMax;
7-
import com.revrobotics.spark.SparkClosedLoopController;
8-
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
9-
import com.revrobotics.spark.config.SparkMaxConfig;
10-
import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits;
11-
import com.revrobotics.spark.SparkBase.ControlType;
12-
import com.revrobotics.spark.SparkBase.PersistMode;
13-
import com.revrobotics.spark.SparkBase.ResetMode;
146

157
public class AmpBarIOSparkMAX implements AmpBarIO {
168

@@ -26,8 +18,6 @@ public AmpBarIOSparkMAX(int motorID) {
2618
pid = barMotor.getClosedLoopController();
2719
// pid.setFeedbackDevice(barMotor.getAbsoluteEncoder());
2820

29-
30-
3121
barMotor.clearFaults();
3222

3323
barPositionSetpoint = 0;
@@ -42,5 +32,3 @@ public void updateInputs(AmpBarIOInputs inputs) {
4232
inputs.appliedVolts = barMotor.getAppliedOutput();
4333
}
4434
}
45-
46-

‎src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java‎

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,6 @@
99
import com.ctre.phoenix6.hardware.TalonFX;
1010
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
1111
import com.ctre.phoenix6.signals.NeutralModeValue;
12-
1312
import edu.wpi.first.units.measure.Angle;
1413
import edu.wpi.first.units.measure.AngularVelocity;
1514
import edu.wpi.first.units.measure.Current;
@@ -75,10 +74,7 @@ public void runCharacterization(double volts) {
7574
@Override
7675
public void setPositionSetpoint(double position, double ffVolts) {
7776
this.positionSetpoint = position;
78-
leader.setControl(
79-
new PositionVoltage(position).withFeedForward(ffVolts));
80-
81-
77+
leader.setControl(new PositionVoltage(position).withFeedForward(ffVolts));
8278
}
8379

8480
@Override

‎src/main/java/frc/robot/subsystems/intake/Intake.java‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,6 @@
44

55
package frc.robot.subsystems.intake;
66

7-
import edu.wpi.first.units.measure.Current;
8-
import edu.wpi.first.units.measure.Voltage;
97
import edu.wpi.first.wpilibj2.command.SubsystemBase;
108
import org.littletonrobotics.junction.Logger;
119

@@ -51,7 +49,7 @@ public double getAmps() {
5149
}
5250

5351
public double getRPM() {
54-
return rInputs.rollerVelocityRPM;
52+
return rInputs.rollerVelocityRPM;
5553
}
5654

5755
@Override

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