made the 'Utlities.java' file and started work on the alliance hub switch

src/main/deploy/pathplanner/paths/Example 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": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

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

@@ -23,7 +23,6 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.PIDCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.AutoConstants;

src/main/java/frc/robot/utilities/SwerveModule.java

@@ -43,13 +43,42 @@ public class SwerveModule {
 
     private String moduleName;
 
+    private boolean isAbsoluteEncoderDisabled;
+
+    /**
+     * Builds the swerve module but with the Absolute Encoder disabled.
+     * 
+     * This constructor assumes you zeroed the swerve modules (faced all the bevel gears to the left)
+     * before booting up the robot.
+     * 
+     * @param moduleName The module name, Front Left, Front Right, etc.
+     * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
+     * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
+     */
+    public SwerveModule(String moduleName, int drivingCANID, int turningCANID) {
+        this(moduleName, drivingCANID, turningCANID, -1, -1);
+    }
+
+    /**
+     * Builds the swerve module with the normal features
+     * 
+     * @param moduleName The module name, Front Left, Front Right, etc.
+     * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
+     * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
+     * @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
+     * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
+     */
     public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+        isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
+
         drive = new TalonFX(drivingCANID);
         turning = new SparkMax(turningCANID, MotorType.kBrushless);
 
         turningRelativeEncoder = turning.getEncoder();
 
-        turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
+        if(!isAbsoluteEncoderDisabled) {
+            turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
+        }
         
         turningClosedLoopController = turning.getClosedLoopController();
 
@@ -65,7 +94,12 @@ public class SwerveModule {
             PersistMode.kPersistParameters
         );
 
-        turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        if(isAbsoluteEncoderDisabled){
+            turningRelativeEncoder.setPosition(0);
+        } else {
+            turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
+        
         drive.setPosition(0);
 
         this.moduleName = "Drivetrain/Modules/" + moduleName;
@@ -118,6 +152,10 @@ public class SwerveModule {
     }
 
     public void zeroTurningEncoder() {
-        turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        if(isAbsoluteEncoderDisabled) {
+            turningRelativeEncoder.setPosition(0);
+        } else {
+            turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
+        }
     }
 }