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33 changed files with 1149 additions and 771 deletions
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1
SE1/Createprojecttest Submodule

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Subproject commit 2c4c1f24ea0dab1ca82d05f99bf7664b86bef040

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.gitignore → SE2/SE2/.gitignore vendored
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0
.vscode/launch.json → SE2/SE2/.vscode/launch.json vendored
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0
.vscode/settings.json → SE2/SE2/.vscode/settings.json vendored
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2
.wpilib/wpilib_preferences.json → SE2/SE2/.wpilib/wpilib_preferences.json
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@ -2,5 +2,5 @@
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2024",
"teamNumber": 9999
"teamNumber": 2648
}

0
WPILib-License.md → SE2/SE2/WPILib-License.md
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build.gradle → SE2/SE2/build.gradle
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0
gradle/wrapper/gradle-wrapper.jar → SE2/SE2/gradle/wrapper/gradle-wrapper.jar vendored
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0
gradle/wrapper/gradle-wrapper.properties → SE2/SE2/gradle/wrapper/gradle-wrapper.properties vendored
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0
gradlew → SE2/SE2/gradlew vendored
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0
gradlew.bat → SE2/SE2/gradlew.bat vendored
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0
settings.gradle → SE2/SE2/settings.gradle
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0
src/main/deploy/example.txt → SE2/SE2/src/main/deploy/example.txt
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0
src/main/java/frc/robot/Main.java → SE2/SE2/src/main/java/frc/robot/Main.java
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0
src/main/java/frc/robot/Robot.java → SE2/SE2/src/main/java/frc/robot/Robot.java
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20
SE2/SE2/src/main/java/frc/robot/RobotContainer.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// 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.robot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
public class RobotContainer {
public RobotContainer() {
configureBindings();
}
private void configureBindings() {}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
}
}

8
SE2/SE2/src/main/java/frc/robot/constants/DrivetrainConstants.java Normal file
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package frc.robot.constants;
public class DrivetrainConstants {
public static final int kLeftFrontID = 0;
public static final int kLeftRearID = 1;
public static final int kRightFrontID = 2;
public static final int kRightRearID = 3;
}

6
SE2/SE2/src/main/java/frc/robot/constants/ShooterConstants.java Normal file
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package frc.robot.constants;
public class ShooterConstants {
public static final int K1MotorPWM = 0;
public static final int K2MotorPWM = 0;
}

47
SE2/SE2/src/main/java/frc/robot/subsystems/Drivetrain.java Normal file
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@ -0,0 +1,47 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.DrivetrainConstants;
public class Drivetrain extends SubsystemBase{
private MotorController leftFront;
private MotorController leftRear;
private MotorController rightFront;
private MotorController rightRear;
private DifferentialDrive drive;;
private Drivetrain() {
leftFront = new CANSparkMax(DrivetrainConstants.kLeftFrontID, MotorType.kBrushless);
rightFront = new CANSparkMax(DrivetrainConstants.kRightFrontID, MotorType.kBrushless);
leftRear = new CANSparkMax(DrivetrainConstants.kLeftRearID, MotorType.kBrushless);
rightRear = new CANSparkMax(DrivetrainConstants.kRightRearID, MotorType.kBrushless);
((CANSparkMax)leftRear).follow((CANSparkMax)leftFront);
((CANSparkMax)rightRear).follow((CANSparkMax)rightFront);
rightFront.setInverted(true);
drive = new DifferentialDrive(leftFront, rightFront);
Encoder Encoder = new Encoder(0,1);
}
public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
return run (() -> {
drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble());
});
}
public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
return run(() -> {
drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble());
});
}
}

20
SE2/SE2/src/main/java/frc/robot/subsystems/Shooter.java Normal file
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package frc.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import com.ctre.phoenix6.controls.Follower;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ShooterConstants;
public class Shooter extends SubsystemBase{
private WPI_VictorSPX motor1;
private WPI_VictorSPX motor2;
public Shooter() {
motor1 = new WPI_VictorSPX(ShooterConstants.K1MotorPWM);
motor2 = new WPI_VictorSPX(ShooterConstants.K2MotorPWM);
motor1.follow(motor2);
}
}

151
SE2/SE2/vendordeps/Phoenix5.json Normal file
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{
"fileName": "Phoenix5.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.33.1",
"frcYear": 2024,
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
"requires": [
{
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
"offlineFileName": "Phoenix6.json",
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.33.1"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.33.1"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.33.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.33.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.33.1",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.33.1",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.33.1",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "5.33.1",
"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.33.1",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.33.1",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}

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SE2/SE2/vendordeps/Phoenix6.json Normal file
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{
"fileName": "Phoenix6.json",
"name": "CTRE-Phoenix (v6)",
"version": "24.3.0",
"frcYear": 2024,
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
"conflictsWith": [
{
"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
"errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
"offlineFileName": "Phoenix6And5.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "24.3.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonFX",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "24.3.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "24.3.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "24.3.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "24.3.0",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "24.3.0",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "24.3.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonFX",
"version": "24.3.0",
"libName": "CTRE_SimTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "24.3.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "24.3.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "24.3.0",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "24.3.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "24.3.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "24.3.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}

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SE2/SE2/vendordeps/REVLib.json Normal file
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{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2024.2.4",
"frcYear": "2024",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2024.2.4"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2024.2.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2024.2.4",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2024.2.4",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
]
}

0
vendordeps/WPILibNewCommands.json → SE2/SE2/vendordeps/WPILibNewCommands.json
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64
shuffleboard.json
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@ -1,64 +0,0 @@
{
"tabPane": [
{
"title": "SmartDashboard",
"autoPopulate": true,
"autoPopulatePrefix": "SmartDashboard/",
"widgetPane": {
"gridSize": 128.0,
"showGrid": true,
"hgap": 16.0,
"vgap": 16.0,
"titleType": 0,
"tiles": {}
}
},
{
"title": "LiveWindow",
"autoPopulate": true,
"autoPopulatePrefix": "LiveWindow/",
"widgetPane": {
"gridSize": 128.0,
"showGrid": true,
"hgap": 16.0,
"vgap": 16.0,
"titleType": 0,
"tiles": {}
}
},
{
"title": " Sensor",
"autoPopulate": false,
"autoPopulatePrefix": "",
"widgetPane": {
"gridSize": 128.0,
"showGrid": true,
"hgap": 16.0,
"vgap": 16.0,
"titleType": 0,
"tiles": {
"0,0": {
"size": [
2,
1
],
"content": {
"_type": "Boolean Box",
"_title": "Frisbee Presence Sensor",
"_glyph": 148,
"_showGlyph": false,
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
}
}
}
}
],
"windowGeometry": {
"x": -7.199999809265137,
"y": -7.199999809265137,
"width": 1550.4000244140625,
"height": 830.4000244140625
}
}

71
src/main/java/frc/robot/RobotContainer.java
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@ -1,71 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.robot;
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.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Flicker;
import frc.robot.subsystems.Shooter;
public class RobotContainer {
private Flicker flicker;
private Shooter shooter;
private Drivetrain drivetrain;
private CommandXboxController driver;
public RobotContainer() {
//sets up controllers
drivetrain = new Drivetrain();
flicker = new Flicker();
driver = new CommandXboxController(OIConstants.kDriverUSB);
configureBindings();
configureShuffleboard();
}
private void configureBindings() {
//manual controls for driving
drivetrain.setDefaultCommand(
drivetrain.driveArcade(
driver::getLeftY,
driver::getLeftX
)
);
flicker.setDefaultCommand(flicker.stop());
//manual controls for shooter and flicker
driver.a().whileTrue(flicker.setSpeed(() ->1 ));
shooter.setDefaultCommand(shooter.stop());
driver.rightBumper().whileTrue(shooter.setSpeed(() -> 1));
}
private void configureShuffleboard() {
//sets up the widget for the shuffboard
ShuffleboardTab robotIndicatorTab = Shuffleboard.getTab(OIConstants.kRobotIndicatorsTabName);
robotIndicatorTab.addBoolean("Frisbee Presence Sensor", flicker::frisbeeSensor)
.withPosition(0, 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
}
public Command getAutonomousCommand() {
//sets up the autonomous command, it drives forward for 2 seconds, spins the shooter mototrs for 1 second, and both shooter and flicker for 3 seconds.
return drivetrain.driveTank(() -> .5,() -> .5).withTimeout(2).andThen(
shooter.setSpeed(()-> 1).withTimeout(1),
shooter.setSpeed(()->1).alongWith(flicker.setSpeed(()->1))
.withTimeout(3)
);
}
}

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src/main/java/frc/robot/constants/DrivetrainConstants.java
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package frc.robot.constants;
public class DrivetrainConstants {
public static final int kLeftFrontPWM = 0;
public static final int kLeftRearPWM = 1;
public static final int kRightFrontPWM = 2;
public static final int kRightRearPWM = 3;
}

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src/main/java/frc/robot/constants/FlickerConstants.java
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package frc.robot.constants;
public class FlickerConstants {
public static final int k3MotorPWM = 6;
public static final int kFrisbeeSensor = 0;
}

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src/main/java/frc/robot/constants/OIConstants.java
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package frc.robot.constants;
public class OIConstants {
public static final int kDriverUSB = 0;
public static final String kRobotIndicatorsTabName = "Sensors";
}

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src/main/java/frc/robot/constants/ShooterConstants.java
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package frc.robot.constants;
public class ShooterConstants {
public static final int k1MotorPWM = 4;
public static final int k2MotorPWM = 5;
}

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src/main/java/frc/robot/subsystems/Drivetrain.java
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.DrivetrainConstants;
public class Drivetrain extends SubsystemBase {
// tells the motors how much power they use
private VictorSP leftFront;
private VictorSP leftRear;
private VictorSP rightFront;
private VictorSP rightRear;
private DifferentialDrive drive;
public Drivetrain() {
//turns the code inputs (like how fast or how to turn) and make it a way that the motors will understand.
leftFront = new VictorSP(DrivetrainConstants.kLeftFrontPWM);
leftRear = new VictorSP(DrivetrainConstants.kLeftRearPWM);
rightFront = new VictorSP(DrivetrainConstants.kRightFrontPWM);
rightRear = new VictorSP(DrivetrainConstants.kRightRearPWM);
leftFront.addFollower(leftRear);
rightFront.addFollower(rightRear);
rightFront.setInverted(true);
drive = new DifferentialDrive(leftFront, rightFront);
}
public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
return run(() -> {
//makes car like steering possible
drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble());
});
}
public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
return run(() -> {
//makes tank steering possible
drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble());
});
}
}

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src/main/java/frc/robot/subsystems/Flicker.java
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.constants.FlickerConstants;
public class Flicker extends SubsystemBase {
private VictorSP motor;
private DigitalInput frisbeeSensor;
public Flicker() {
//sets motors and the photo switch
motor = new VictorSP(FlickerConstants.k3MotorPWM);
frisbeeSensor = new DigitalInput(FlickerConstants.kFrisbeeSensor);
}
public boolean frisbeeSensor() {
/*this uses a photoswitch to see if a frisbbe is there or not,
and if not where it is called in in RobotContrainer makes it so it won't shot if no frisbee*/
return frisbeeSensor.get();
}
public Command setSpeed(DoubleSupplier speed){
//makes it so the motor will run but if the photoswitch can't see the frisbee it will stop.
return run(() -> {
if (frisbeeSensor.get()) {
motor.set(speed.getAsDouble());
} else {
motor.set(0);
}
});
}
public Command stop() {
// stops the motor manually.
return setSpeed(() -> 0);
}
}

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src/main/java/frc/robot/subsystems/Shooter.java
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ShooterConstants;
public class Shooter extends SubsystemBase {
//makes the motors varables
private VictorSP motor1;
private VictorSP motor2;
public Shooter() {
//sets up the motors to be used in the code
motor1 = new VictorSP(ShooterConstants.k1MotorPWM);
motor2 = new VictorSP(ShooterConstants.k2MotorPWM);
motor1.addFollower(motor2);
}
public Command setSpeed(DoubleSupplier speed) {
//sets the motors speed
return run(() -> {
motor1.set(speed.getAsDouble());
});
}
public Command stop() {
//stops the motors
return setSpeed(() -> 0);
}
}