fixing dt bindings divide by zero flaw

src/main/deploy/pathplanner/autos/1 L4 Center.auto

@@ -27,6 +27,12 @@
           "data": {
             "pathName": "H Backup"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "HP Pickup"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/1L4 + Algae Center.auto

@@ -0,0 +1,74 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to H"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Coral L4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H Backup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Pickup Algae L2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HG Algae"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HG to Barge"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Algae"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "HP Pickup"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Post-Barge Backup"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/30 Right to HP.path

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.649657534252619,
-        "y": 6.474186643842743
+        "x": 4.843032786885245,
+        "y": 6.30266393442623
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 2.055234532899169,
-        "y": 6.243135947675724
+        "x": 2.287270519874242,
+        "y": 6.774371912194027
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/330 Right to HP.path

@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/H Backup.path

@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.7,
-        "y": 4.3
+        "x": 5.758260140458621,
+        "y": 4.193633481772718
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.053790983606557,
-        "y": 4.312704918032787
+        "x": 6.112051124065178,
+        "y": 4.206338399805505
       },
       "isLocked": false,
       "linkedName": "H"
     },
     {
       "anchor": {
-        "x": 6.389446721311475,
-        "y": 4.3
+        "x": 6.5,
+        "y": 4.021985060730393
       },
       "prevControl": {
-        "x": 6.1394487099079695,
-        "y": 4.300997143065429
+        "x": 6.250001988596495,
+        "y": 4.022982203795822
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Behind HG Face"
     }
   ],
   "rotationTargets": [],
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 0.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -45,10 +45,10 @@
     "rotation": 180.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Center",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/HG Algae.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.5,
+        "y": 4.021985060730393
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.224227344787433,
+        "y": 4.009974315068493
+      },
+      "isLocked": false,
+      "linkedName": "Behind HG Face"
+    },
+    {
+      "anchor": {
+        "x": 5.872671261177789,
+        "y": 4.021985060730393
+      },
+      "prevControl": {
+        "x": 6.125859753477119,
+        "y": 4.004837296105254
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "HG Algae"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/HG to Barge.path

@@ -0,0 +1,71 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.872671261177789,
+        "y": 4.021985060730393
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.829105562465259,
+        "y": 3.8676166530198106
+      },
+      "isLocked": false,
+      "linkedName": "HG Algae"
+    },
+    {
+      "anchor": {
+        "x": 7.032020547945206,
+        "y": 4.761258561643835
+      },
+      "prevControl": {
+        "x": 7.262336691900294,
+        "y": 4.359747737103425
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Pre-Barge"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.17234468937875755,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Processor Position",
+      "waypointRelativePos": 0.188095238095238,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Processor Position"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/HP to 330 Right.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.490979395912868,
-        "y": 6.964368824388053
+        "x": 2.0019467213114757,
+        "y": 6.434528688524591
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
     },
     {
       "anchor": {
-        "x": 3.6202868852459016,
-        "y": 5.031967213114754
+        "x": 3.609900518622585,
+        "y": 5.005924534374863
       },
       "prevControl": {
-        "x": 3.304747501684258,
-        "y": 5.557866185717494
+        "x": 3.2943611350609414,
+        "y": 5.531823506977602
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -53.97262661489646
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/HP to K.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7142418032786886,
-        "y": 6.638319672131147
+        "x": 1.9266540815180775,
+        "y": 6.744320542331013
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
@@ -20,8 +20,8 @@
         "y": 5.211782786885246
       },
       "prevControl": {
-        "x": 3.2246926229508195,
-        "y": 6.230737704918033
+        "x": 2.975085616438356,
+        "y": 6.023416095890411
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -53.97262661489646
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/L Backup.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6202868852459016,
-        "y": 5.031967213114754
+        "x": 3.609900518622585,
+        "y": 5.005924534374863
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.4877871502451065,
-        "y": 5.243966789116026
+        "x": 3.47740078362179,
+        "y": 5.217924110376135
       },
       "isLocked": false,
       "linkedName": "L"
     },
     {
       "anchor": {
-        "x": 1.1987704918032787,
-        "y": 7.189754098360656
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 1.4025614754098363,
-        "y": 6.914036885245903
+        "x": 1.3306352459016395,
+        "y": 6.926024590163935
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.756421232876712,
+        "y": 5.227054794520548
+      },
+      "prevControl": {
+        "x": 2.756421232876712,
+        "y": 5.227054794520548
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.18537788806707
+  },
+  "reversed": false,
+  "folder": "Left Paths",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Post-Barge Backup.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.032020547945206,
+        "y": 4.761258561643835
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.71311475409836,
+        "y": 4.9480532786885245
+      },
+      "isLocked": false,
+      "linkedName": "Pre-Barge"
+    },
+    {
+      "anchor": {
+        "x": 5.933913934426228,
+        "y": 5.247745901639345
+      },
+      "prevControl": {
+        "x": 6.641188524590164,
+        "y": 5.043954918032786
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Start to 30 Right.path

@@ -46,7 +46,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
     "velocity": 0,
     "rotation": -90.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Start to H.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.7,
-        "y": 4.3
+        "x": 5.758260140458621,
+        "y": 4.193633481772718
       },
       "prevControl": {
-        "x": 6.347336065573771,
-        "y": 4.2640368852459005
+        "x": 6.405596206032391,
+        "y": 4.157670367018619
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,10 +31,22 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Lift L4",
+      "waypointRelativePos": 0.10238095238095252,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Lift L4"
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.5,
-    "maxAcceleration": 1.75,
+    "maxAcceleration": 1.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -45,10 +57,10 @@
     "rotation": 180.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Center",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/settings.json

@@ -3,7 +3,8 @@
   "robotLength": 0.8763,
   "holonomicMode": true,
   "pathFolders": [
-    "Left Paths"
+    "Left Paths",
+    "Center"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.5,

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

@@ -35,7 +35,7 @@ public Robot() {
 
     if (isReal()) {
         Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
-        Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        //Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
         new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
     } else {
         setUseTiming(false); // Run as fast as possible

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

@@ -111,9 +111,9 @@ public class RobotContainer {
 
 		drivetrain.setDefaultCommand(
 			drivetrain.drive(
-				() -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
-				() -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
-				driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
+				() -> driver.getLeftY(),
+				() -> driver.getLeftX(),
+				() -> driver.getRightX(), 
 				() -> true
 			)
 		);
@@ -167,6 +167,15 @@ public class RobotContainer {
 		
 		driver.start().whileTrue(drivetrain.resetToVision());
 	
+		driver.povUp().whileTrue(
+			drivetrain.resetToVision().andThen(
+			drivetrain.goToPose(
+				() -> VisionConstants.algaeSetpointsMap[closestTag.getAsInt()][0], 
+				() -> VisionConstants.algaeSetpointsMap[closestTag.getAsInt()][1], 
+				() -> Rotation2d.fromRadians(Units.degreesToRadians(VisionConstants.globalTagCoords[closestTag.getAsInt()][3]+180))
+			))
+		);
+
 		driver.rightBumper().whileTrue(
 				drivetrain.resetToVision().andThen(
 				drivetrain.goToPose(
@@ -217,8 +226,8 @@ public class RobotContainer {
 		operator.back().onTrue(elevator.homeCommand());
 
 		operator.start().toggleOnTrue(
-			climberPivot.runPivot(() -> -operator.getRightY()*0.5)
-			.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
+			climberPivot.runPivot(() -> -operator.getRightY())
+			.alongWith(climberRollers.runRoller(() -> operator.getLeftY())));
 
 		operator.a().onTrue(
 			safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)
@@ -330,7 +339,7 @@ public class RobotContainer {
 					), 
 				manipulatorPivot.maintainPosition()
 					.withTimeout(
-						0.01
+						0.1
 					)
 			)
 		);
@@ -342,6 +351,28 @@ public class RobotContainer {
 				ManipulatorPivotConstants.kStartingPosition
 			)
 		);
+
+		NamedCommands.registerCommand(
+			"Shoot Algae",
+			shootAlgae().withTimeout(2)   
+		);
+
+		NamedCommands.registerCommand(
+			"Processor Position", 
+			moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
+			.raceWith(manipulator.runManipulator(() -> 0.85, false))
+		);
+
+		NamedCommands.registerCommand(
+			"Pickup Algae L2", 
+			moveWithAlgae(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
+			.raceWith(manipulator.runManipulator(() -> 0.85, false))
+			.andThen(
+				elevator.maintainPosition()
+				.alongWith(manipulatorPivot.maintainPosition())).withTimeout(0.1)
+
+			//Dont you need a holdPosition call?
+		);
 	}
 
 	//creates tabs and transforms them on the shuffleboard
@@ -598,10 +629,10 @@ public class RobotContainer {
 	}
 
 	private Command shootAlgae(){
-		return manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
-		.andThen(elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
-		.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>44).andThen(manipulator.runManipulator(() -> -1, false),
-		elevator.goToSetpoint(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		return manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		.andThen(elevator.goToSetpointAlgae(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
+		.raceWith(elevator.maintainPosition())).until(() -> elevator.getEncoderPosition()>36/* 44*/).andThen(manipulator.runManipulator(() -> -1, false),
+		elevator.goToSetpointAlgae(() -> ElevatorConstants.kL4Position), manipulatorPivot.goToSetpointAlgae(() -> ManipulatorPivotConstants.kBargeShotPosition)
 		.raceWith(elevator.maintainPosition()));
 	}
 

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

@@ -16,6 +16,8 @@ public class AutoConstants {
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 
+    public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
+
     public static final double kPXYController = 3.5;
     public static final double kPThetaController = 5;
 

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

@@ -1,9 +1,18 @@
 package frc.robot.constants;
 
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class ClimberRollersConstants {
     public static final int kRollerMotorID = 9;
 
     public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
+
+    static {
+        motorConfig
+            .smartCurrentLimit(40)
+            .idleMode(IdleMode.kBrake)
+            .inverted(true);
+        
+    }
 }

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
 public 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 = 5.5;
+    public static final double kMaxSpeedMetersPerSecond = 5.5 * 0.75;
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration

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

@@ -56,6 +56,8 @@ public class ElevatorConstants {
 
     public static final double kVoltageLimit = 7;
 
+    public static final double kVoltageLimitAlgae = 9;
+
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = .25;
     public static final double kSysIDStepVolts = 3;

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

@@ -23,7 +23,9 @@ public class ManipulatorPivotConstants {
     public static final double kPositionalP = 4.5;
     public static final double kPositionalI = 0;
     public static final double kPositionalD = 0;
-    public static final double kPositionalTolerance = Units.degreesToRadians(1.5);
+    public static final double kPositionalTolerance = Units.degreesToRadians(3);
+
+    public static final double kAlgaeP = 7;
 
     public static final double kFeedForwardS = (0.3-0.19) / 2 * 0.8; //upper: 0.3 lower: 0.19
     public static final double kFeedForwardG = (0.3+0.19) / 2; // calculated value 0.41

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

@@ -9,4 +9,6 @@ public class OIConstants {
     public static final String kAutoTab = "Auto Tab";
     public static final String kSensorsTab = "Sensors Tab";
     public static final String kApriltagTab = "Apriltag Tab";
+
+    public static final double kJoystickExponential = 3;
 }

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

@@ -59,6 +59,32 @@ public class VisionConstants {
         {4.993, 2.816, 5.272, 2.996}
     };
 
+    public static final double[][] algaeSetpointsMap = {
+        {},
+        {},
+        {},
+        {},
+        {},
+        {},
+        {13.906, 2.658},//6
+        {14.661, 4.013},
+        {13.834, 5.428},
+        {12.263, 5.452},
+        {11.412, 4.025},
+        {12.191, 2.574},//11
+        {},
+        {},
+        {},
+        {},
+        {},
+        {3.649, 2.558},//17
+        {2.776, 4.005},
+        {3.644, 5.514},
+        {5.296, 5.522},//4.991, 5.246},
+        {6.225, 4.008},
+        {5.322, 2.511}//22
+    };
+
     public static final double latencyFudge = 0.0;
 
 }

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

@@ -177,11 +177,17 @@ public class Drivetrain extends SubsystemBase {
 
         gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees());
 
-        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
+        m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360)));
 
         if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
-            if(vision.getOrangeDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360)));
+            if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) < 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(360)));
+            }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) < 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
+            }else if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+            }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -195,11 +201,21 @@ public class Drivetrain extends SubsystemBase {
             } 
         }
         Logger.recordOutput("orange pose", new Pose3d(orangePose2d));
+        Logger.recordOutput("orange dist", vision.getOrangeDist());
+        Logger.recordOutput("orange detected", vision.getOrangeTagDetected());
+        Logger.recordOutput("orange tag", vision.getOrangeTagDetected());
+        Logger.recordOutput("orange FPS", vision.getOrangeFPS());
 
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
-            if(vision.getBlackDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360)));
+            if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) < 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(360)));
+            }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) < 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
+            }else if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
+            }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
@@ -212,7 +228,13 @@ public class Drivetrain extends SubsystemBase {
             }
         }
         Logger.recordOutput("black pose", new Pose3d(blackPose2d));
-        
+        Logger.recordOutput("black dist", vision.getBlackDist());
+        Logger.recordOutput("black detected", vision.getBlackTagDetected());
+        Logger.recordOutput("black tag", vision.getBlackTagDetected());
+        Logger.recordOutput("black FPS", vision.getBlackFPS());
+
+        Logger.recordOutput("drive velocity", getVelocity());
+        Logger.recordOutput("closest tag", getClosestTag());
         Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
         
         if(musicTimer.get()>10){
@@ -301,8 +323,18 @@ public class Drivetrain extends SubsystemBase {
      */
     public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
         // Convert the commanded speeds into the correct units for the drivetrain
-        double xSpeedDelivered = xSpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
-        double ySpeedDelivered = ySpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
+        double xSpeedDelivered = 0;
+        double ySpeedDelivered = 0;
+
+        if(p != 0){
+            xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+            ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        }else{
+            xSpeedDelivered = 0;
+            ySpeedDelivered = 0;
+        }
+        
         double rotDelivered = rot * DrivetrainConstants.kMaxAngularSpeed;
 
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
@@ -340,8 +372,8 @@ public class Drivetrain extends SubsystemBase {
                 );
 
                 double speed = Math.hypot(controlEffort.vxMetersPerSecond, controlEffort.vyMetersPerSecond);
-                if (speed > AutoConstants.kMaxSpeedMetersPerSecond) {
-                    double mul = AutoConstants.kMaxSpeedMetersPerSecond / speed;
+                if (speed > AutoConstants.kMaxSpeedMetersPerSecondAutoAlign) {
+                    double mul = AutoConstants.kMaxSpeedMetersPerSecondAutoAlign / speed;
                     controlEffort.vxMetersPerSecond *= mul;
                     controlEffort.vyMetersPerSecond *= mul;
                 }

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

@@ -2,6 +2,8 @@ package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
@@ -94,6 +96,10 @@ public class Elevator extends SubsystemBase {
         if (!getBottomLimitSwitch()) {
             encoder.setPosition(0);
         }
+
+        Logger.recordOutput("elevator position", getEncoderPosition());
+        Logger.recordOutput("elevator up setpoint", pidControllerUp.getSetpoint());
+        Logger.recordOutput("elevator down setpoint", pidControllerDown.getSetpoint());
     }
 
     /**
@@ -245,50 +251,65 @@ public class Elevator extends SubsystemBase {
                 
                 }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
         }
+    }          
+
+    public Command goToSetpointAlgae(DoubleSupplier setpoint) {
+            
+        if (setpoint.getAsDouble() == 0) {
+            return startRun(() -> {
         
-            
-            /*
-            elevatorMotor1.setVoltage(
-                pidController.calculate(
-                    encoder.getPosition(),
-                    clampedSetpoint
-                ) + feedForward.calculate(0)
-            );
-*/
-            /* 
-            if (!pidController.atSetpoint()) {
-                elevatorMotor1.setVoltage(
-                    pidController.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(0)
-                );
-            } else {
-                elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
-                );
-            }
-             
-        });*/
-    }
-            
-            /* 
-            if(encoder.getPosition() >= setpoint.getAsDouble()){
-                elevatorMotor1.setVoltage(
-                    pidControllerUp.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(pidControllerUp.getSetpoint().velocity)
-                );
-            }else if(encoder.getPosition() <= setpoint.getAsDouble()){
-                elevatorMotor1.setVoltage(
-                    pidControllerDown.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
-                    ) + feedForward.calculate(pidControllerDown.getSetpoint().velocity)
-                );
-            }
-                */
+                pidControllerUp.reset();
+                pidControllerDown.reset();
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
+                
+                }, 
+                () -> {
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
+        
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    else{
+                        elevatorMotor1.setVoltage(
+                            MathUtil.clamp(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint())
+                    .andThen(runManualElevator(() -> -.5)
+                    .until(() -> encoder.getPosition() == 0));
+
+        } else {
+            return startRun(() -> {
+        
+                pidControllerUp.reset();
+                pidControllerDown.reset();
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
+        
+                },
+                () -> {
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
+        
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    else{
+                        elevatorMotor1.setVoltage(
+                            MathUtil.clamp(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimitAlgae * -1, ElevatorConstants.kVoltageLimitAlgae)
+                        );
+                    }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
+        }
+    }   
 
     /**
      * Returns the current encoder position

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

@@ -2,6 +2,8 @@ package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
@@ -46,6 +48,13 @@ public class Manipulator extends SubsystemBase {
         coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
     }
 
+    @Override
+    public void periodic() {
+        super.periodic();
+
+        Logger.recordOutput("coral beam break", getCoralBeamBreak());
+    }
+
     /**
      * The default command for the manipulator that either stops the manipulator or slowly 
      * runs the manipulator to retain the algae
@@ -84,8 +93,8 @@ public class Manipulator extends SubsystemBase {
      */
     public Command runUntilCollected(DoubleSupplier speed) {
         return run(() -> {
-            manipulatorMotor.set(
-                speed.getAsDouble()
+            manipulatorMotor.setVoltage(
+                speed.getAsDouble()*12
             );
 
             indexerMotor.set(1);

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

@@ -4,6 +4,8 @@ import com.revrobotics.spark.SparkMax;
 
 import java.util.function.DoubleSupplier;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.revrobotics.spark.SparkAbsoluteEncoder;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
@@ -25,6 +27,8 @@ public class ManipulatorPivot extends SubsystemBase {
 
     private PIDController pidController;
 
+    private PIDController algaePIDController;
+
     public ManipulatorPivot() {
         pivotMotor = new SparkMax(
             ManipulatorPivotConstants.kPivotMotorID, 
@@ -44,10 +48,22 @@ public class ManipulatorPivot extends SubsystemBase {
             ManipulatorPivotConstants.kPositionalI, 
             ManipulatorPivotConstants.kPositionalD
         );
+        pidController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
+
         pidController.setSetpoint(0);
 
         pidController.enableContinuousInput(0, 280);
         
+        algaePIDController = new PIDController(
+            ManipulatorPivotConstants.kAlgaeP,
+            0,
+            0);
+        algaePIDController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
+        
+        algaePIDController.setSetpoint(0);
+
+        algaePIDController.enableContinuousInput(0, 280);
+
         feedForward = new ArmFeedforward(
             ManipulatorPivotConstants.kFeedForwardS,
             ManipulatorPivotConstants.kFeedForwardG, 
@@ -55,6 +71,14 @@ public class ManipulatorPivot extends SubsystemBase {
             );
     }
 
+    @Override
+    public void periodic() {
+        super.periodic();
+
+        Logger.recordOutput("manipulator position", getEncoderPosition());
+        Logger.recordOutput("manipulator setpoint", pidController.getSetpoint());
+    }
+
     /**
      * Returns whether or not the motion is safe relative to the encoder's current position
      * and the arm safe stow position
@@ -125,6 +149,38 @@ public class ManipulatorPivot extends SubsystemBase {
             }).until(() -> pidController.atSetpoint());
     }
 
+    public Command goToSetpointAlgae(DoubleSupplier setpoint) {
+        return startRun(() -> {
+            
+            algaePIDController.setSetpoint(setpoint.getAsDouble());
+            algaePIDController.reset();
+            pidController.setSetpoint(setpoint.getAsDouble());
+            pidController.reset();
+            }, 
+            () -> {
+                /* 
+                if (!pidController.atSetpoint()) {
+                    pivotMotor.setVoltage(
+                        pidController.calculate(
+                            encoder.getPosition(),
+                            setpoint.getAsDouble()
+                        ) - feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                    );
+                } else {
+                    pivotMotor.setVoltage(
+                        -feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                    );
+                }
+                    */
+                pivotMotor.setVoltage(
+                    algaePIDController.calculate(
+                        encoder.getPosition(),
+                        setpoint.getAsDouble()
+                    ) - feedForward.calculate(-encoder.getPosition() + ManipulatorPivotConstants.kFFGravityOffset, 0)
+                );
+            }).until(() -> algaePIDController.atSetpoint());
+    }
+
     public Command maintainPosition() {
         return startRun(() -> {
             

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

@@ -177,11 +177,11 @@ public class Vision{
     }
 
     public boolean isBlackConnected(){
-        return Timer.getFPGATimestamp()-black_tx.getLastChange() > 2.0;
+        return Timer.getFPGATimestamp()-blackFramerate.getLastChange() > 3.0;
     }
 
     public boolean isOrangeConnected(){
-        return Timer.getFPGATimestamp()-orange_tx.getLastChange() > 2.0;
+        return Timer.getFPGATimestamp()-orangeFramerate.getLastChange() > 3.0;
     }
     
 }