Merge branch 'main' of https://github.com/Team334/R2024

.pathplanner/settings.json

@@ -9,4 +9,4 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 2.88
-}
+}

build.gradle

@@ -77,7 +77,11 @@ wpi.sim.addDriverstation()
 // 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 {
+        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

src/main/deploy/pathplanner/autos/Move Backward + Apriltag.auto

@@ -34,4 +34,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.9099007567375976,
+      "y": 6.998240302783657
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Test Path.path

@@ -0,0 +1,118 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.9099007567375976,
+        "y": 6.998240302783657
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.455338244008969,
+        "y": 7.007485005957748
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.889839293191247,
+        "y": 6.998240302783657
+      },
+      "prevControl": {
+        "x": 2.5374475056350487,
+        "y": 6.998240302783657
+      },
+      "nextControl": {
+        "x": 2.8990839963653383,
+        "y": 6.998240302783657
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.9099007567375976,
+        "y": 7.608390712273665
+      },
+      "prevControl": {
+        "x": 1.9838583821303262,
+        "y": 7.6268801186218464
+      },
+      "nextControl": {
+        "x": 1.8576048183019434,
+        "y": 7.595316727664752
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.558414396107218,
+        "y": 7.460475461488208
+      },
+      "prevControl": {
+        "x": 5.595400123565224,
+        "y": 7.460475461488208
+      },
+      "nextControl": {
+        "x": 7.650861427848128,
+        "y": 7.460475461488208
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8636772408671425,
+        "y": 5.472864279058636
+      },
+      "prevControl": {
+        "x": 4.821982256577126,
+        "y": 6.406579299645086
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3.6,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

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

@@ -40,12 +40,10 @@ public static class CAN {
   }
 
   public static class Speeds {
-    public static final double SWERVE_DRIVE_COEFF = 0.3;
+    public static final double SWERVE_DRIVE_COEFF = 1;
 
-    public static final double SWERVE_DRIVE_MAX_SPEED = 8.78; // TODO: Get this value
-    public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 2; // Todo: Get this value
-
-    public static final double SHOOTER_MAX_SPEED = 1; 
+    public static final double SWERVE_DRIVE_MAX_SPEED = 4.67; // TODO: Get this value
+    public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 1; // Todo: Get this value
   }
 
   public static class Physical {
@@ -79,7 +77,6 @@ public static class Offsets {
     public static final double ENCODER_FRONT_RIGHT = -58;
     public static final double ENCODER_BACK_RIGHT = 10;
     public static final double ENCODER_BACK_LEFT = 43;
-
   }
 
   public static class Ports {

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

@@ -3,8 +3,6 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.Orchestra;
-import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,10 +18,8 @@ public class Robot extends TimedRobot {
 
   private RobotContainer m_robotContainer;
 
-    /* Talon FXs to play music through.  
-    More complex music MIDIs will contain several tracks, requiring multiple instruments.  */
-
-
+  /* Talon FXs to play music through.
+  More complex music MIDIs will contain several tracks, requiring multiple instruments.  */
 
   /**
    * This function is run when the robot is first started up and should be used for any