Merge branch 'main' into Upstream_Changes

NOTES.md

@@ -1,9 +1,28 @@
 # DEVELOPING #
 
-## Useful links ##
-- (Apriltag PDF Generator)[https://tools.limelightvision.io/apriltag-generator]
+These are just various development-related notes. <!-- Fun to play around with markdown formatting too! -->
 
 ## AdvantageKit Notes ##
-In order to utilize AdvantageKit properly, different _Logger_ classes need to replace the hardware I/O to record data. For example:
-- SendableChooser() -> LoggedDashboardChooser()
-- s
+In order to utilize AdvantageKit properly, different _Logger_ classes need be placed in between hardware I/O and user input to record data. For example, to log which option of a SmartDashboard _SendableChooser_ was chosen for an Autonomous routine, you would do something like this:
+```java
+SendableChooser<Command> chooser = new SendableChooser<>();
+// Adding all the options for the SendableChooser goes here.
+LoggedDashboardChooser<Command> autoChooser;
+autoChooser = new LoggedDashboardChooser<>("Autonomous Choices", chooser);
+```
+
+## Limelight Notes ##
+The static IP for the Limelight 2 is **10.58.29.18**.
+The static IP for the Limelight 3G is **10.58.29.11**.
+When physically connected by Ethernet, it can be found at at _limelight.local_, port **5801** for the configuration panel,
+port **5800** for the camera stream.
+> Note that the limelight relative to the center of the robot is roughly: 10 inches to the left, 20 inches up, and 2 inches forward.
+> Nevermind, no longer true. Check again.
+
+## Watch for changes upstream ##
+- **Main template:** [Mechanical-Advantage/AdvantageKit/commits/main/example_projects/advanced_swerve_drive/src/main](https://github.com/Mechanical-Advantage/AdvantageKit/commits/main/example_projects/advanced_swerve_drive/src/main)
+- **Limelight/AprilTag subsystem code:** [Hemlock5712/AdvantageKitSwerveTemplate/commits/main/src/main/java/frc/robot](https://github.com/Hemlock5712/AdvantageKitSwerveTemplate/commits/main/src/main/java/frc/robot)
+- **LimelightHelper library:** [LimelightVision/limelightlib-wpijava/commits/main/](https://github.com/LimelightVision/limelightlib-wpijava/commits/main/)
+
+## Useful links ##
+- [Apriltag PDF Generator](https://tools.limelightvision.io/apriltag-generator)

README.md

@@ -1,7 +1,9 @@
 # FRC-2024
+[![Build](https://github.com/awtybots/FRC-2024/actions/workflows/build.yml/badge.svg)](https://github.com/awtybots/FRC-2024/actions/workflows/build.yml)
+[![Spotless](https://github.com/awtybots/FRC-2024/actions/workflows/spotless.yml/badge.svg)](https://github.com/awtybots/FRC-2024/actions/workflows/spotless.yml)
 
-The code for the 2024 FRC season robot for Awtybots 5829.
+The code for the 2024 FRC season robot for Awtybots 5829. Uses PathPlanner, AdvantageKit, SparkMax swerve and motors, Limelight camera, and a NavX gyro as its main technologies (along with WPILIB, of course). Uses Gradle and Spotless.
 
 ## Credits
 
-Thank you FRC 6328 and FRC 3015!
+Thank you FRC 6328, FRC 5172, and FRC 3015!

src/main/java/frc/robot/Constants.java

@@ -149,51 +149,10 @@ public static final class ArmConstants {
     // public static final double initialAngle = 0.0; // Not sure what this is for
   }
 
-  public static final class ArmElevatorConstants {
-    public static final int kArmElevatorMotorId = 17; // ! Change before testing
-
-    public static final int kCurrentLimit = 30;
-
-    public static final int initialExtension = 0;
-    public static double minExtension = 0;
-    public static double maxExtension = 2.6; // Inches
-
-    // public static final double armElevatorConversion = 1;
-
-    // Arm Elevator PID constants
-    public static final double kP = 1;
-    public static final double kI = 0;
-    public static final double kD = 0.0;
-
-    // Arm Elevator Feedforward characterization constants
-    public static final double ks = 0;
-    public static final double kv = 0;
-  }
-
   public static final class Presets {
     public static final double ArmThreshold = 0.1;
   }
 
-  public static final class WristConstants {
-    public static final int kWristMotorId = 60; // ! Change before testing
-
-    public static final int kCurrentLimit = 30;
-
-    public static final int initialAngle = 0; // radians
-
-    public static final int minAngle = -1; // radians
-    public static final int maxAngle = 1; // radians
-
-    // Wrist PID constants
-    public static final double kP = 0.1;
-    public static final double kI = 0.0;
-    public static final double kD = 0.0;
-
-    // Wrist Feedforward characterization constants
-    public static final double ks = 0.10;
-    public static final double kv = 0.05;
-  }
-
   public static final class ClimberConstants {
     public static final int kLeftClimberMotorId = 16;
     public static final int kRightClimberMotorId = 15;
@@ -218,24 +177,4 @@ public static final class ClimberConstants {
     public static final double ks = 0.10;
     public static final double kv = 0.05;
   }
-
-  public static final class SticksConstants {
-    public static final int kSticksMotorId = 10000; // ! Change before testing
-
-    public static final int kCurrentLimit = 30;
-
-    public static final int initialAngle = 0; // radians
-
-    public static final int minAngle = 0; // radians
-    public static final int maxAngle = 1; // radians
-
-    // Sticks PID constants
-    public static final double kP = 0.1;
-    public static final double kI = 0.0;
-    public static final double kD = 0.0;
-
-    // Sticks Feedforward characterization constants
-    // public static final double ks = 0.10;
-    // public static final double kv = 0.05;
-  }
 }

src/main/java/frc/robot/Robot.java

@@ -1,5 +1,4 @@
-// Awtybots 5829 2024 Codebase
-// Thank you FRC 6328 and FRC 3015!
+// Copyright 2016-2024 FRC 5829
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License

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

@@ -1,5 +1,4 @@
-// Copyright 2021-2024 FRC 6328, FRC 5829
-// http://github.com/Mechanical-Advantage
+// Copyright 2016-2024 FRC 5829, FRC 6328
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License
@@ -44,10 +43,6 @@
 import frc.robot.subsystems.arm.ArmIO;
 import frc.robot.subsystems.arm.ArmIOSim;
 import frc.robot.subsystems.arm.ArmIOSparkMax;
-import frc.robot.subsystems.armElevator.ArmElevator;
-import frc.robot.subsystems.armElevator.ArmElevatorIO;
-import frc.robot.subsystems.armElevator.ArmElevatorIOSim;
-import frc.robot.subsystems.armElevator.ArmElevatorIOSparkMax;
 import frc.robot.subsystems.climber.Climber;
 import frc.robot.subsystems.climber.ClimberIO;
 import frc.robot.subsystems.climber.ClimberIOSim;
@@ -66,15 +61,7 @@
 import frc.robot.subsystems.intake.IntakeIO;
 import frc.robot.subsystems.intake.IntakeIOSim;
 import frc.robot.subsystems.intake.IntakeIOSparkMax;
-// import frc.robot.subsystems.sticks.Sticks;
-// import frc.robot.subsystems.sticks.SticksIO;
-// import frc.robot.subsystems.sticks.SticksIOSim;
-// import frc.robot.subsystems.sticks.SticksIOSparkMax;
 import frc.robot.subsystems.intake.ProximitySensorIOV3;
-import frc.robot.subsystems.wrist.Wrist;
-import frc.robot.subsystems.wrist.WristIO;
-import frc.robot.subsystems.wrist.WristIOSim;
-import frc.robot.subsystems.wrist.WristIOSparkMax;
 import java.util.ArrayList;
 import java.util.List;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
@@ -92,11 +79,8 @@ public class RobotContainer {
   private final Flywheel sFlywheel;
   private final Intake sIntake;
   private final Arm sArm;
-  private final ArmElevator sArmElevator;
-  private final Wrist sWrist;
   private final Climber sClimber;
   private final LedSubsystem ledSubsystem;
-  //   private final Sticks sSticks;
 
   // Controllers
   private final CommandXboxController driverController = new CommandXboxController(0);
@@ -126,10 +110,7 @@ public RobotContainer() {
         sFlywheel = new Flywheel(new FlywheelIOSparkMax());
         sIntake = new Intake(new IntakeIOSparkMax() {}, new ProximitySensorIOV3() {});
         sArm = new Arm(new ArmIOSparkMax() {});
-        sArmElevator = new ArmElevator(new ArmElevatorIOSparkMax() {});
-        sWrist = new Wrist(new WristIOSparkMax() {});
         sClimber = new Climber(new ClimberIOSparkMax() {});
-        // sSticks = new Sticks(new SticksIOSparkMax() {});
 
         break;
 
@@ -147,10 +128,7 @@ public RobotContainer() {
         sFlywheel = new Flywheel(new FlywheelIOSim());
         sIntake = new Intake(new IntakeIOSim() {}, new ProximitySensorIOV3() {});
         sArm = new Arm(new ArmIOSim() {});
-        sArmElevator = new ArmElevator(new ArmElevatorIOSim() {});
-        sWrist = new Wrist(new WristIOSim() {});
         sClimber = new Climber(new ClimberIOSim() {});
-        // sSticks = new Sticks(new SticksIOSim() {});
 
         break;
 
@@ -166,10 +144,7 @@ public RobotContainer() {
         sFlywheel = new Flywheel(new FlywheelIO() {});
         sIntake = new Intake(new IntakeIO() {}, new ProximitySensorIOV3() {});
         sArm = new Arm(new ArmIO() {});
-        sArmElevator = new ArmElevator(new ArmElevatorIO() {});
-        sWrist = new Wrist(new WristIO() {});
         sClimber = new Climber(new ClimberIO() {});
-        // sSticks = new Sticks(new SticksIO() {});
 
         break;
     }
@@ -220,9 +195,7 @@ public RobotContainer() {
 
     // In testing
     NamedCommands.registerCommand(
-        "SpeakerShot",
-        SpeakerShot.run(1, sArm, sArmElevator, sWrist)
-            .withTimeout(5.0)); // TODO Replace SpeakerDistance
+        "SpeakerShot", SpeakerShot.run(1, sArm).withTimeout(5.0)); // TODO Replace SpeakerDistance
 
     // Build SmartDashboard auto chooser
     if (!AutoBuilder.isConfigured()) {
@@ -434,15 +407,6 @@ private void configureButtonBindings() {
     // Operator controller configurations
     sArm.setDefaultCommand(ArmCommands.joystickDrive(sArm, () -> -operatorController.getRightY()));
 
-    // sWrist.setDefaultCommand(
-    //     WristCommands.joystickDrive(sWrist, () -> operatorController.getLeftY()));
-
-    // sArmElevator.setDefaultCommand(
-    //     ArmElevatorCommands.triggerDrive(
-    //         sArmElevator,
-    //         () -> operatorController.getLeftTriggerAxis(),
-    //         () -> operatorController.getRightTriggerAxis()));
-
     sIntake.setDefaultCommand(
         IntakeShooterControls.intakeShooterDrive(
             sIntake,
@@ -491,21 +455,12 @@ private void configureButtonBindings() {
     // operatorController.y().whileTrue(new ShootNote(sIntake, sArm, sFlywheel));
 
     // run straight forwards position when x is pressed
-    operatorController.x().whileTrue(AmpShot.run(sArm, sArmElevator, sWrist));
+    operatorController.x().whileTrue(AmpShot.run(sArm));
     // operatorController.x().whileTrue(new AdjustNote(sIntake, sArm, sFlywheel));
 
     operatorController.a().whileTrue(FloorPickup.run(sArm));
 
-    operatorController.b().whileTrue(StowPosition.run(sArm, sArmElevator, sWrist));
-
-    // operatorController
-    //     .x()
-    //     .whileTrue(Commands.startEnd(() -> sSticks.runTargetAngle(0.0), sSticks::stop, sSticks));
-    // operatorController
-    //     .y()
-    //     .whileTrue(
-    //         Commands.startEnd(
-    //             () -> sSticks.runTargetAngle(0.5), sSticks::stop, sSticks)); // !Testing numbers
+    operatorController.b().whileTrue(StowPosition.run(sArm));
   }
 
   /**

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

@@ -1,3 +1,15 @@
+// Copyright 2016-2024 FRC 5829
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;

src/main/java/frc/robot/commands/ControlCommands/ArmCommands.java

@@ -1,5 +1,4 @@
-// Copyright 2021-2024 FRC 6328, FRC 5829
-// http://github.com/Mechanical-Advantage
+// Copyright 2016-2024 FRC 5829
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License

src/main/java/frc/robot/commands/ControlCommands/DriveCommands.java

@@ -1,5 +1,4 @@
-// Copyright 2021-2024 FRC 6328
-// http://github.com/Mechanical-Advantage
+// Copyright 2016-2024 FRC 6328, FRC 5829
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License

src/main/java/frc/robot/commands/ControlCommands/IntakeShooterControls.java

@@ -1,5 +1,4 @@
-// Copyright 2021-2024 FRC 6328, FRC 5829
-// http://github.com/Mechanical-Advantage
+// Copyright 2016-2024 FRC 5829
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License