src/main/deploy/pathplanner/paths/300 Right to HP.path

@@ -1,72 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.6061643835666786,
-        "y": 5.031720890416444
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 3.065239726031196,
-        "y": 5.647773972598556
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.2510679859194649,
-        "y": 7.0812357195448
-      },
-      "prevControl": {
-        "x": 1.6678510274010594,
-        "y": 6.6394691780780075
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.498997995991984,
-      "rotationDegrees": -52.46519085612145
-    }
-  ],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Score L4",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": null
-    },
-    {
-      "name": "HP Pickup",
-      "waypointRelativePos": 0.16666666666666663,
-      "endWaypointRelativePos": null,
-      "command": null
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 4.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": -53.98486432191523
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -59.99999999999999
-  },
-  "useDefaultConstraints": true
-}

src/main/deploy/pathplanner/paths/HP to 300 Left.path

@@ -1,61 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 1.3072345890410957,
-        "y": 7.135316780821918
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.5994434931506847,
-        "y": 6.909931506849315
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.026883561643835,
-        "y": 5.257106164383561
-      },
-      "prevControl": {
-        "x": 3.7113441780821916,
-        "y": 5.783005136986301
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Score L4",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": null
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 4.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": -59.69923999693802
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -53.97262661489646
-  },
-  "useDefaultConstraints": true
-}

src/main/deploy/pathplanner/settings.json

@@ -1,32 +0,0 @@
-{
-  "robotWidth": 0.8763,
-  "robotLength": 0.8763,
-  "holonomicMode": true,
-  "pathFolders": [],
-  "autoFolders": [],
-  "defaultMaxVel": 4.0,
-  "defaultMaxAccel": 4.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
-  "defaultNominalVoltage": 12.0,
-  "robotMass": 48.35,
-  "robotMOI": 6.883,
-  "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.038,
-  "driveGearing": 4.29,
-  "maxDriveSpeed": 5.45,
-  "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 65.0,
-  "wheelCOF": 1.1,
-  "flModuleX": 0.31115,
-  "flModuleY": 0.31115,
-  "frModuleX": 0.31115,
-  "frModuleY": -0.31115,
-  "blModuleX": -0.31115,
-  "blModuleY": 0.31115,
-  "brModuleX": -0.31115,
-  "brModuleY": -0.31115,
-  "bumperOffsetX": 0.0,
-  "bumperOffsetY": 0.0,
-  "robotFeatures": []
-}

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

@@ -11,8 +11,8 @@ import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
 public class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 4;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 4;
+    public static final double kMaxSpeedMetersPerSecond = 3;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 

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

@@ -17,9 +17,9 @@ public class DrivetrainConstants {
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration
-    public static final double kTrackWidth = Units.inchesToMeters(24.5);
+    public static final double kTrackWidth = Units.inchesToMeters(26.5);
     // Distance between centers of right and left wheels on robot
-    public static final double kWheelBase = Units.inchesToMeters(24.5);
+    public static final double kWheelBase = Units.inchesToMeters(26.5);
 
     // Angular offsets of the modules relative to the chassis in radians
     public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
@@ -48,7 +48,7 @@ public class DrivetrainConstants {
     public static final int kFrontRightTurningCanId = 14;
     public static final int kRearRightTurningCanId = 16;
 
-    public static final boolean kGyroReversed = true;
+    public static final boolean kGyroReversed = false;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
 

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

@@ -19,7 +19,7 @@ public class ElevatorConstants {
 
     public static final double kEncoderConversionFactor = 0;
 
-    public static final int kMotorAmpsMax = 40;
+    public static final int kMotorAmpsMax = 0;
 
     public static final double kPositionControllerP = 0;
     public static final double kPositionControllerI = 0;
@@ -30,8 +30,8 @@ public class ElevatorConstants {
     public static final double kVelocityControllerD = 0;
 
     public static final double kFeedForwardS = 0;
-    public static final double kFeedForwardG = 0.41; // calculated value
-    public static final double kFeedForwardV = 1.75; // calculated value
+    public static final double kFeedForwardG = 0;
+    public static final double kFeedForwardV = 0;
 
     public static final double kMaxVelocity = 0;
 

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

@@ -17,7 +17,7 @@ public class ManipulatorPivotConstants {
     public static final int kArmMotorID = 0;
     public static final int kCANcoderID = 0;
 
-    public static final int kMotorAmpsMax = 40;
+    public static final int kMotorAmpsMax = 0;
 
     public static final double kPivotMaxVelocity = 0;
 
@@ -29,11 +29,6 @@ public class ManipulatorPivotConstants {
     public static final double kVelocityP = 0;
     public static final double kVelocityI = 0;
     public static final double kVelocityD = 0;
-
-    public static final double kFeedForwardS = 0;
-    public static final double kFeedForwardG = 0.41; // calculated value
-    public static final double kFeedForwardV = 0.68; //calculated value
-
     // TODO Is this reasonable?
     public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
 

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

@@ -41,8 +41,7 @@ public class ModuleConstants {
     public static final double kTurnI = 0;
     public static final double kTurnD = 0;
 
-    public static final int kDriveMotorStatorCurrentLimit = 100;
-    public static final int kDriveMotorSupplyCurrentLimit = 65;
+    public static final int kDriveMotorStatorCurrentLimit = 120;
     public static final int kTurnMotorCurrentLimit = 20;
 
     public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
@@ -63,9 +62,7 @@ public class ModuleConstants {
         kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
 
         kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
-        kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
         kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
-        kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
 
         kDriveMotorConfig.Inverted = kDriveInversionState;
         kDriveMotorConfig.NeutralMode = kDriveIdleMode;

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

@@ -22,120 +22,120 @@ import com.revrobotics.AbsoluteEncoder;
 import frc.robot.constants.ModuleConstants;
 
 public class MAXSwerveModule {
-    private final TalonFX m_drive;
-    private final SparkMax m_turningSpark;
+  private final TalonFX m_drive;
+  private final SparkMax m_turningSpark;
 
-    private final AbsoluteEncoder m_turningEncoder;
+  private final AbsoluteEncoder m_turningEncoder;
 
-    private final SparkClosedLoopController m_turningClosedLoopController;
+  private final SparkClosedLoopController m_turningClosedLoopController;
 
-    private final VelocityVoltage driveVelocityRequest;
+  private final VelocityVoltage driveVelocityRequest;
 
-    private double m_chassisAngularOffset = 0;
-    private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
+  private double m_chassisAngularOffset = 0;
+  private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
 
-    /**
-     * Constructs a MAXSwerveModule and configures the driving and turning motor,
-     * encoder, and PID controller. This configuration is specific to the REV
-     * MAXSwerve Module built with NEOs, SPARKS MAX, and a Through Bore
-     * Encoder.
-     */
-    public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
-        m_drive = new TalonFX(drivingCANId);
-        m_turningSpark = new SparkMax(turningCANId, MotorType.kBrushless);
+  /**
+   * Constructs a MAXSwerveModule and configures the driving and turning motor,
+   * encoder, and PID controller. This configuration is specific to the REV
+   * MAXSwerve Module built with NEOs, SPARKS MAX, and a Through Bore
+   * Encoder.
+   */
+  public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
+    m_drive = new TalonFX(drivingCANId);
+    m_turningSpark = new SparkMax(turningCANId, MotorType.kBrushless);
 
-        m_turningEncoder = m_turningSpark.getAbsoluteEncoder();
+    m_turningEncoder = m_turningSpark.getAbsoluteEncoder();
 
-        m_turningClosedLoopController = m_turningSpark.getClosedLoopController();
+    m_turningClosedLoopController = m_turningSpark.getClosedLoopController();
 
-        driveVelocityRequest = new VelocityVoltage(0).withSlot(0);
+    driveVelocityRequest = new VelocityVoltage(0).withSlot(0);
 
-        // Apply the respective configurations to the SPARKS. Reset parameters before
-        // applying the configuration to bring the SPARK to a known good state. Persist
-        // the settings to the SPARK to avoid losing them on a power cycle.
-        m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
-        m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
-        m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
-        m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
+    // Apply the respective configurations to the SPARKS. Reset parameters before
+    // applying the configuration to bring the SPARK to a known good state. Persist
+    // the settings to the SPARK to avoid losing them on a power cycle.
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
 
-        m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,
-            PersistMode.kPersistParameters);
+    m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,
+        PersistMode.kPersistParameters);
 
-        m_chassisAngularOffset = chassisAngularOffset;
-        m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
-        m_drive.setPosition(0);
-    }
+    m_chassisAngularOffset = chassisAngularOffset;
+    m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
+    m_drive.setPosition(0);
+  }
 
-    /**
-     * Returns the current state of the module.
-     *
-     * @return The current state of the module.
-     */
-    public SwerveModuleState getState() {
-        // Apply chassis angular offset to the encoder position to get the position
-        // relative to the chassis.
-        return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(),
-            new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
-    }
+  /**
+   * Returns the current state of the module.
+   *
+   * @return The current state of the module.
+   */
+  public SwerveModuleState getState() {
+    // Apply chassis angular offset to the encoder position to get the position
+    // relative to the chassis.
+    return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(),
+        new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
+  }
 
-    /**
-     * Returns the current position of the module.
-     *
-     * @return The current position of the module.
-     */
-    public SwerveModulePosition getPosition() {
-        // Apply chassis angular offset to the encoder position to get the position
-        // relative to the chassis.
-        return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(),
-            new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
-    }
+  /**
+   * Returns the current position of the module.
+   *
+   * @return The current position of the module.
+   */
+  public SwerveModulePosition getPosition() {
+    // Apply chassis angular offset to the encoder position to get the position
+    // relative to the chassis.
+    return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(),
+        new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
+  }
 
-    /**
-     * Sets the desired state for the module.
-     *
-     * @param desiredState Desired state with speed and angle.
-     */
-    public void setDesiredState(SwerveModuleState desiredState) {
-        // Apply chassis angular offset to the desired state.
-        SwerveModuleState correctedDesiredState = new SwerveModuleState();
-        correctedDesiredState.speedMetersPerSecond = desiredState.speedMetersPerSecond;
-        correctedDesiredState.angle = desiredState.angle.plus(Rotation2d.fromRadians(m_chassisAngularOffset));
+  /**
+   * Sets the desired state for the module.
+   *
+   * @param desiredState Desired state with speed and angle.
+   */
+  public void setDesiredState(SwerveModuleState desiredState) {
+    // Apply chassis angular offset to the desired state.
+    SwerveModuleState correctedDesiredState = new SwerveModuleState();
+    correctedDesiredState.speedMetersPerSecond = desiredState.speedMetersPerSecond;
+    correctedDesiredState.angle = desiredState.angle.plus(Rotation2d.fromRadians(m_chassisAngularOffset));
 
-        // Optimize the reference state to avoid spinning further than 90 degrees.
-        correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
+    // Optimize the reference state to avoid spinning further than 90 degrees.
+    correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
 
-        // Command driving and turning SPARKS towards their respective setpoints.
-        m_drive.setControl(
-        driveVelocityRequest.withVelocity(
-            correctedDesiredState.speedMetersPerSecond
-        ).withFeedForward(
-            correctedDesiredState.speedMetersPerSecond
-        )
-        );
+    // Command driving and turning SPARKS towards their respective setpoints.
+    m_drive.setControl(
+      driveVelocityRequest.withVelocity(
+        correctedDesiredState.speedMetersPerSecond
+      ).withFeedForward(
+        correctedDesiredState.speedMetersPerSecond
+      )
+    );
 
-        m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
+    m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
 
-        m_desiredState = desiredState;
-    }
+    m_desiredState = desiredState;
+  }
 
-    public void setVoltageDrive(double voltage){
-        m_drive.setVoltage(voltage);
-    }
+  public void setVoltageDrive(double voltage){
+    m_drive.setVoltage(voltage);
+  }
 
-    public void setVoltageTurn(double voltage) {
-        m_turningSpark.setVoltage(voltage);
-    }
+  public void setVoltageTurn(double voltage) {
+    m_turningSpark.setVoltage(voltage);
+  }
 
-    public double getVoltageDrive() {
-        return m_drive.get() * RobotController.getBatteryVoltage();
-    }
+  public double getVoltageDrive() {
+    return m_drive.get() * RobotController.getBatteryVoltage();
+  }
 
-    public double getVoltageTurn() {
-        return m_turningSpark.get() * RobotController.getBatteryVoltage();
-    }
+  public double getVoltageTurn() {
+    return m_turningSpark.get() * RobotController.getBatteryVoltage();
+  }
 
-    /** Zeroes all the SwerveModule encoders. */
-    public void resetEncoders() {
-        m_drive.setPosition(0);
-    }
+  /** Zeroes all the SwerveModule encoders. */
+  public void resetEncoders() {
+    m_drive.setPosition(0);
+  }
 }

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

@@ -58,12 +58,6 @@ public class ManipulatorPivot extends SubsystemBase {
 
         canCoder = new CANcoder(ManipulatorPivotConstants.kCANcoderID);
         canCoder.getConfigurator().apply(ManipulatorPivotConstants.canCoderConfig);
-
-        feedForward = new ArmFeedforward(
-            ManipulatorPivotConstants.kFeedForwardS,
-            ManipulatorPivotConstants.kFeedForwardG, 
-            ManipulatorPivotConstants.kFeedForwardV
-            );
     }
 
     /**

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

@@ -1,46 +0,0 @@
-package frc.robot.subsystems;
-
-import edu.wpi.first.networktables.BooleanSubscriber;
-import edu.wpi.first.networktables.DoubleSubscriber;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
-public class TylerVision{
-
-    private DoubleSubscriber cam1GlobalPose;
-    private DoubleSubscriber cam1ClosestTag;
-    private BooleanSubscriber cam1TagDetected;
-
-    private DoubleSubscriber framerate;
-
-    public TylerVision(){
-        NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-        NetworkTable visionTable = inst.getTable("Fiducial");
-
-        cam1GlobalPose = visionTable.getDoubleTopic("cam1GlobalPose").subscribe(0.0);
-        cam1ClosestTag = visionTable.getDoubleTopic("cam1ClosestTag").subscribe(0.0);
-
-        cam1TagDetected = visionTable.getBooleanTopic("cam1_visible").subscribe(false);
-      //  cam2TagDetected = visionTable.getBooleanTopic("cam2_visible").subscribe(false);
-
-        framerate = visionTable.getDoubleTopic("fps").subscribe(0.0);
-    }
-
-    public double getCam1GlobalPose(){
-        return cam1GlobalPose.get();
-    }
-
-    public double getCam1ClosestTag(){
-        return cam1ClosestTag.get();
-    }
-
-    public boolean getCam1TagDetected(){
-        return cam1TagDetected.get();
-    }
-
-    public double getFPS(){
-        return framerate.get();
-    }
-    
-}