Merge branch 'main' into Steggo-SwervePIDTuning

# Conflicts: # src/main/java/frc/robot/Constants.java
TitaniumTitans · Feb 9, 2024 · b9588bc · b9588bc
2 parents 73047d1 + 1187cc0
commit b9588bc
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diff --git a/.run/Build & Deploy Robot for Debugging.run.xml b/.run/Build & Deploy Robot for Debugging.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="-PdebugMode=true" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Build & Deploy Robot.run.xml b/.run/Build & Deploy Robot.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Build & Run Simulate Java.run.xml b/.run/Build & Run Simulate Java.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Run Simulate Java" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="simulateJava" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Build Robot.run.xml b/.run/Build Robot.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build & Deploy Robot for Debugging.run.xml b/.run/Clean Build & Deploy Robot for Debugging.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build &amp; Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="-PdebugMode=true" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build & Deploy Robot.run.xml b/.run/Clean Build & Deploy Robot.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build &amp; Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build & Run Simulate Java.run.xml b/.run/Clean Build & Run Simulate Java.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build &amp; Run Simulate Java" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="simulateJava" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build Robot.run.xml b/.run/Clean Build Robot.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Debug Robot via IP.run.xml b/.run/Debug Robot via IP.run.xml
@@ -0,0 +1,12 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Robot via IP" type="Remote">
+    <module name="2024Crescendo.main" />
+    <option name="USE_SOCKET_TRANSPORT" value="true" />
+    <option name="SERVER_MODE" value="false" />
+    <option name="SHMEM_ADDRESS" value="javadebug" />
+    <option name="HOST" value="10.44.67.2" />
+    <option name="PORT" value="8349" />
+    <option name="AUTO_RESTART" value="false" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Debug Robot via USB.run.xml b/.run/Debug Robot via USB.run.xml
@@ -0,0 +1,12 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Robot via USB" type="Remote">
+    <module name="2024Crescendo.main" />
+    <option name="USE_SOCKET_TRANSPORT" value="true" />
+    <option name="SERVER_MODE" value="false" />
+    <option name="SHMEM_ADDRESS" value="javadebug" />
+    <option name="HOST" value="172.22.11.2" />
+    <option name="PORT" value="8349" />
+    <option name="AUTO_RESTART" value="false" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Launch Shuffleboard.run.xml b/.run/Launch Shuffleboard.run.xml
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Launch Shuffleboard" type="JarApplication" activateToolWindowBeforeRun="false">
+    <option name="JAR_PATH" value="C:\Users\Public\wpilib\2024\tools\artifacts\Shuffleboard-2024.1.1-beta-1-winx64.jar" />
+    <module name="2024Crescendo.main" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Launch SmartDashboard.run.xml b/.run/Launch SmartDashboard.run.xml
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Launch SmartDashboard" type="JarApplication" activateToolWindowBeforeRun="false">
+    <option name="JAR_PATH" value="C:\Users\Public\wpilib\2024\tools\artifacts\SmartDashboard-2024.1.1-beta-1-winx64.jar" />
+    <module name="2024Crescendo.main" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -27,11 +27,14 @@ public final class Constants {
   private Constants() {
     throw new IllegalStateException("Constants class should not be constructed");
   }
-  public static final Mode currentMode = Mode.SIM;
+  public static final Mode currentMode = Mode.PROTO_ARM;
 
   public enum Mode {
     /** Running on a real robot. */
     REAL,
+    PROTO_ARM,
+
+    PROTO_SHOOTER,
 
     /** Running a physics simulator. */
     SIM,
@@ -100,6 +103,49 @@ private DriveConstants() {
     );
   }
 
+
+  public static class ArmConstants {
+    private ArmConstants() {}
+
+    public static int WRIST_ID = 0;
+    public static int SHOULDER_ID = 0;
+
+    public static double WRIST_KP = 0.0;
+    public static double WRIST_KI = 0.0;
+    public static double WRIST_KD = 0.0;
+    public static double WRIST_KS = 0.0;
+    public static double WRIST_KV = 0.0;
+    public static double WRIST_KG = 0.0;
+
+    public static double SHOULDER_KP = 0.0;
+    public static double SHOULDER_KI = 0.0;
+    public static double SHOULDER_KD = 0.0;
+    public static double SHOULDER_KS = 0.0;
+    public static double SHOULDER_KV = 0.0;
+    public static double SHOULDER_KG = 0.0;
+  }
+  public static class ShooterConstants {
+    private ShooterConstants() {
+      throw new IllegalStateException("Static classes should not be constructed");
+    }
+    public static final int TOP_LEFT_ID = 13;
+    public static final int TOP_RIGHT_ID = 14;
+    public static final int BOTTOM_LEFT_ID = 15;
+    public static final int BOTTOM_RIGHT_ID = 16;
+    public static final int KICKER_ID = 17;
+
+    public static final double SHOOTER_KP = 0.000061;
+    public static final double SHOOTER_KI = 0.0;
+    public static final double SHOOTER_KD = 0.005;
+    public static final double SHOOTER_KF = 0.000152;
+
+    public static final boolean TOP_LEFT_INVERTED = false;
+    public static final boolean TOP_RIGHT_INVERTED = true;
+    public static final boolean BOTTOM_LEFT_INVERTED = true;
+    public static final boolean BOTTOM_RIGHT_INVERTED = false;
+    public static final boolean KICKER_INVERTED = true;
+  }
+
   public class ClimberConstants {
     private ClimberConstants() {
       throw new IllegalStateException("Static class should not be constructed");

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -13,6 +13,7 @@
 
 package frc.robot;
 
+import com.gos.lib.properties.PropertyManager;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.littletonrobotics.junction.LogFileUtil;
@@ -38,6 +39,8 @@ public class Robot extends LoggedRobot {
    */
   @Override
   public void robotInit() {
+    // Clear dead properties
+    PropertyManager.purgeExtraKeys();
     // Record metadata
     Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
     Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
@@ -59,7 +62,8 @@ public void robotInit() {
 
     // Set up data receivers & replay source
     switch (Constants.currentMode) {
-      case REAL:
+      case PROTO_ARM:
+      case REAL, PROTO_SHOOTER:
         // Running on a real robot, log to a USB stick ("/U/logs")
         Logger.addDataReceiver(new WPILOGWriter());
         Logger.addDataReceiver(new NT4Publisher());