Merge branch 'main' of https://git.coldlightalchemist.com/Bradley/2024_Programming_Training_Demos

CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/constants/ShooterConstants.java

@@ -12,6 +12,7 @@ public class ShooterConstants {
     public static final double kEncoderConversionFactor = 0;
 
     public static final double kBangBangTolerance = 0;
+    public static final double kBangBangVoltageMultiplier = 10;
 
     public static final double kFFS = 0;
     public static final double kFFV = 0;

CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/subsystems/Shooter.java

@@ -53,7 +53,7 @@ public class Shooter extends SubsystemBase {
             double output = controller.calculate(
                 (motor1Encoder.getRate() + motor2Encoder.getRate()) / 2,
                 speed
-            ) + ff.calculate(speed);
+            ) * ShooterConstants.kBangBangVoltageMultiplier + ff.calculate(speed);
 
             motor1.setVoltage(output);
         });

CS20 - REV Swerve/src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -20,8 +20,8 @@ import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.ADIS16470_IMU;
 import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import frc.robot.constants.DrivetrainConstants;
-import frc.utils.MAXSwerveModule;
+import frc.robot.utils.MAXSwerveModule;
-import frc.utils.SwerveUtils;
+import frc.robot.utils.SwerveUtils;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 

CS20 - REV Swerve/src/main/java/frc/robot/utils/MAXSwerveModule.java

@@ -2,7 +2,7 @@
 // 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.utils;
+package frc.robot.utils;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;

CS20 - REV Swerve/src/main/java/frc/robot/utils/SwerveUtils.java

@@ -1,4 +1,4 @@
-package frc.utils;
+package frc.robot.utils;
 
 public class SwerveUtils {
 

CS21 - PathPlanner Basics/src/main/deploy/pathplanner/autos/Gremlin.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": null
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

CS21 - PathPlanner Basics/src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.9219209708544644,
+        "y": 4.185419462073272
+      },
+      "prevControl": {
+        "x": 3.9219209708544644,
+        "y": 4.185419462073272
+      },
+      "nextControl": {
+        "x": 5.921920970854464,
+        "y": 4.185419462073272
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.124773319314081,
+        "y": 4.185419462073272
+      },
+      "prevControl": {
+        "x": 6.67504098644561,
+        "y": 3.190431108134944
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -91.7272598416291,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

CS21 - PathPlanner Basics/src/main/deploy/pathplanner/paths/New Path.path

@@ -0,0 +1,100 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6077077608723753,
+        "y": 0.578382247674906
+      },
+      "prevControl": {
+        "x": 1.6077077608723753,
+        "y": 0.578382247674906
+      },
+      "nextControl": {
+        "x": 3.6077077608723753,
+        "y": 0.578382247674906
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 9.585609716676286,
+        "y": 1.026162052325425
+      },
+      "prevControl": {
+        "x": 9.52815390120199,
+        "y": -0.017618595457612685
+      },
+      "nextControl": {
+        "x": 9.641582192257601,
+        "y": 2.0429953587193106
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.512803934698777,
+        "y": 7.602927933128594
+      },
+      "prevControl": {
+        "x": 8.765079824050103,
+        "y": 7.436655187872565
+      },
+      "nextControl": {
+        "x": 8.102339113771444,
+        "y": 7.873461565106268
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.572424781213199,
+        "y": 7.2857505715011435
+      },
+      "prevControl": {
+        "x": 6.2272611817974,
+        "y": 7.127161890688737
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 13.828650972347063,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

CS21 - PathPlanner Basics/src/main/java/frc/robot/RobotContainer.java

@@ -12,6 +12,9 @@ import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Drivetrain;
@@ -42,12 +45,12 @@ public class RobotContainer {
     drivetrain = new Drivetrain();
     driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 
-    NamedCommands.registerCommand("Set Drivetrain X", drivetrain.setXCommand());
-
     autoChooser = AutoBuilder.buildAutoChooser();
 
     // Configure the button bindings
     configureButtonBindings();
+    configureShuffleboard();
+    configureNamedCommands();
   }
 
   /**
@@ -86,6 +89,19 @@ public class RobotContainer {
     );
   }
 
+  private void configureShuffleboard() {
+    ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTabName);
+
+    autoTab.add("Auto Selection", autoChooser)
+      .withPosition(0, 0)
+      .withSize(2, 1)
+      .withWidget(BuiltInWidgets.kComboBoxChooser);
+  }
+
+  private void configureNamedCommands() {
+    NamedCommands.registerCommand("Set Drivetrain X", drivetrain.setXCommand());
+  }
+
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *

CS21 - PathPlanner Basics/src/main/java/frc/robot/constants/OIConstants.java

@@ -3,4 +3,6 @@ package frc.robot.constants;
 public class OIConstants {
     public static final int kDriverControllerPort = 0;
     public static final double kDriveDeadband = 0.05;
+
+    public static final String kAutoTabName = "Autonomous";
 }

CS21 - PathPlanner Basics/vendordeps/PathplannerLib2024.json

@@ -1,18 +1,18 @@
 {
-    "fileName": "PathplannerLib.json",
+    "fileName": "PathplannerLib2024.json",
     "name": "PathplannerLib",
-    "version": "2024.2.7",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2024.json",
     "javaDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.7"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.7",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -35,4 +35,4 @@
             ]
         }
     ]
-}
+}