updated dt constants, auto intaking, pathplanner

src/main/deploy/pathplanner/autos/Left Subwoofer Center 2S.auto

@@ -34,6 +34,12 @@
           "data": {
             "pathName": "L Sub to Center"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to Speaker"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/L Sub to Center.path

@@ -3,34 +3,58 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2888463383764373,
+        "x": 1.1251281761822782,
-        "y": 6.642279723305886
+        "y": 6.560420642208806
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2888463383764366,
+        "x": 1.569506044994996,
-        "y": 6.642279723305886
+        "y": 7.098351746561042
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.159911049166827,
+        "x": 2.4114851648506717,
-        "y": 6.864468657712245
+        "y": 7.016492665463964
       },
       "prevControl": {
-        "x": 2.159911049166827,
+        "x": 1.943718987153074,
-        "y": 6.864468657712245
+        "y": 7.004798511021525
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.45,
+      "rotationDegrees": 179.22679798216734,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Auto Intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
@@ -39,13 +63,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 180.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 21.801409486351982,
+    "rotation": -145.66978280449663,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Left Subwoofer.path

@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 149.21037688376774,
+    "rotation": -128.39665211123375,
     "rotateFast": false
   },
   "reversed": false,

src/main/java/frc/robot/Commands/autoIntaking.java

@@ -0,0 +1,31 @@
+package frc.robot.Commands;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.IntakeConstants;
+import frc.robot.subsystems.Intake;
+
+public class autoIntaking extends Command{
+    private Intake m_intake;
+    private BooleanSupplier m_beamBreak;
+
+    public autoIntaking(Intake intake, BooleanSupplier beamBreak){
+        m_intake = intake;
+        m_beamBreak = beamBreak;
+
+        addRequirements(intake);
+    }    
+
+    @Override
+    public void execute(){
+        m_intake.intakeControl(() -> IntakeConstants.kDownAngle, () -> 1.0);
+    }
+
+    @Override
+    public boolean isFinished(){
+        if(!m_beamBreak.getAsBoolean()){
+            return true;
+        }else {return false;}
+    }
+}

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

@@ -30,6 +30,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Commands.autoIntaking;
 import frc.robot.constants.IntakeConstants;
 import frc.robot.constants.OIConstants;
 import frc.robot.constants.PhotonConstants;
@@ -102,6 +103,7 @@ public class RobotContainer {
 
         NamedCommands.registerCommand("Charge Shooter 2 Sec", shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0).withTimeout(2.0));
         NamedCommands.registerCommand("Speaker Note Shot", Commands.parallel(shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0), indexer.shootNote(() -> 1.0)).withTimeout(2.0));
+        NamedCommands.registerCommand("Auto Intake", new autoIntaking(intake, indexer::getBeamBreak).andThen(intake.intakeUpCommand()));
 
         // An example Named Command, doesn't need to remain once we start actually adding real things
         // ALL Named Commands need to be defined AFTER subsystem initialization and BEFORE auto/controller configuration
@@ -168,17 +170,23 @@ public class RobotContainer {
         intake.setDefaultCommand(
             intake.intakeControl(
                 () -> {
-                    if (intakeDown) {
+                    if (intakeDown && indexer.getBeamBreak()) {
                         return IntakeConstants.kDownAngle;
                     } else {
                         return IntakeConstants.kUpAngle;
                     }
                 }, 
-                operator::getRightY
+                () -> {
+                    if(intakeDown && indexer.getBeamBreak()){
+                        return 1.0;
+                    }else{
+                        return 0.0;
+                    }
+                }
             )
         );
 
-        operator.povUp().onTrue(
+        driver.leftTrigger().onFalse(
             new InstantCommand(
                 () -> {
                     intakeDown = false;
@@ -186,7 +194,7 @@ public class RobotContainer {
             )
         );
 
-        operator.povDown().onTrue(
+        driver.leftTrigger().onTrue(
             new InstantCommand(
                 () -> {
                     intakeDown = true;

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -7,7 +7,7 @@ import edu.wpi.first.math.util.Units;
 public final class DrivetrainConstants {
     // Driving Parameters - Note that these are not the maximum capable speeds of
     // the robot, rather the allowed maximum speeds
-    public static final double kMaxSpeedMetersPerSecond = 4.1;
+    public static final double kMaxSpeedMetersPerSecond = 5.2;
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     public static final double kDirectionSlewRate = 4.8; // radians per second

src/main/java/frc/robot/constants/SwerveModuleConstants.java

@@ -49,6 +49,6 @@ public class SwerveModuleConstants {
     public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
     public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
 
-    public static final int kDrivingMotorCurrentLimit = 65; // amps
+    public static final int kDrivingMotorCurrentLimit = 70; // amps
     public static final int kTurningMotorCurrentLimit = 30; // amps
 }

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

@@ -1,6 +1,5 @@
 package frc.robot.subsystems;
 
-import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 import com.revrobotics.CANSparkMax;
@@ -61,6 +60,29 @@ public class Intake extends SubsystemBase{
         armOffset = getIntakeAngle()-IntakeConstants.kStartingAngle;
     }
 
+    
+    /* 
+    public Command autoIntaking(BooleanSupplier beamBreak){
+        return run(() -> {
+            intakeRoller.set(1.0);
+
+            intakePivot.setVoltage(
+                intakeAnglePID.calculate(
+                    getIntakeAngle(), 
+                    IntakeConstants.kDownAngle
+                ) + intakeFeedForward.calculate(
+                    IntakeConstants.kDownAngle, 
+                    0.0
+                )
+            );
+        return isFinished(() -> {
+            if(!beamBreak.getAsBoolean()){
+                return true
+            }
+            });
+        });
+    }
+*/
     public Command intakeControl(DoubleSupplier pivotAngle, DoubleSupplier intakeSpeed) {
         return run(() -> {
             intakeRoller.set(intakeSpeed.getAsDouble());
@@ -93,35 +115,6 @@ public class Intake extends SubsystemBase{
         });
     }
 
-    public Command autoIntaking(BooleanSupplier beamBreak){
-        return run(() -> {
-            if(beamBreak.getAsBoolean()){
-                intakeRoller.set(1.0);
-
-                intakePivot.setVoltage(
-                intakeAnglePID.calculate(
-                    getIntakeAngle(), 
-                    IntakeConstants.kUpAngle
-                ) + intakeFeedForward.calculate(
-                    IntakeConstants.kUpAngle, 
-                    0.0
-                )
-                );
-            }else{
-                intakeRoller.set(0);
-                intakePivot.setVoltage(
-                intakeAnglePID.calculate(
-                    getIntakeAngle(), 
-                    IntakeConstants.kDownAngle
-                ) + intakeFeedForward.calculate(
-                    IntakeConstants.kDownAngle, 
-                    0.0
-                )
-                );
-            }
-        });
-    }
-
     public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
         return run(() ->{
             intakePivot.set(pivotPower.getAsDouble());

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.4",
+    "version": "2024.2.6",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.4"
+            "version": "2024.2.6"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.4",
+            "version": "2024.2.6",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix5.json

@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix5.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.33.0",
+    "version": "5.33.1",
     "frcYear": 2024,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -20,19 +20,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.33.0"
+            "version": "5.33.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.33.0"
+            "version": "5.33.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +45,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -60,7 +60,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -75,7 +75,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -105,7 +105,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -120,7 +120,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -135,7 +135,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/REVLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.2",
+    "version": "2024.2.3",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.2"
+            "version": "2024.2.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.2",
+            "version": "2024.2.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.2",
+            "version": "2024.2.3",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.2",
+            "version": "2024.2.3",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,