From c8eef492d87802492b24638ba3083964d2997f09 Mon Sep 17 00:00:00 2001
From: Rishabh Rengarajan <87624167+rishabhreng@users.noreply.github.com>
Date: Wed, 8 Jan 2025 20:29:05 -0600
Subject: [PATCH] Many sim changes - using AdvantageKit and MapleSim, almost
complete Flex rewrite (#6)
* Refactor robot subsystems to include state management and improve simulation logging (autoaim)
rename flex advantage kit project
* Add new auto paths and update settings for path planning and robot dimensions
functional three piece
* replaced beta with 2025 version
---
AdvKit2024/.vscode/extensions.json | 5 -
AdvKit2024/.vscode/settings.json | 43 -
AdvKit2024/.wpilib/wpilib_preferences.json | 6 -
AdvKit2024/AdvantageKit-License.md | 674 -------
.../AdvantageScope Swerve Calibration.json | 463 -----
.../src/main/deploy/pathplanner/navgrid.json | 1633 -----------------
.../pathplanner/paths/Example Path.path | 70 -
.../src/main/deploy/pathplanner/settings.json | 21 -
.../frc/robot/subsystems/index/Index.java | 60 -
.../frc/robot/subsystems/pivot/Pivot.java | 84 -
.../robot/subsystems/pivot/PivotIOSim.java | 74 -
.../frc/robot/subsystems/shooter/Shooter.java | 94 -
.../subsystems/shooter/ShooterIOSim.java | 76 -
AdvKit2024/vendordeps/AdvantageKit.json | 32 -
AdvKit2024/vendordeps/ChoreoLib2025Beta.json | 44 -
.../vendordeps/PathplannerLib-beta.json | 38 -
.../vendordeps/Phoenix6-25.0.0-beta-4.json | 389 ----
.../vendordeps/REVLib-2025.0.0-beta-3.json | 74 -
AdvKit2024/vendordeps/maple-sim.json | 26 -
AdvKit2024/vendordeps/photonlib.json | 71 -
{AdvKit2024 => FlexAdvKit2025}/.gitignore | 6 +-
.../.vscode/launch.json | 8 +-
FlexAdvKit2025/.vscode/settings.json | 60 +
.../.wpilib/wpilib_preferences.json | 6 +
FlexAdvKit2025/2025-reefscape.json | 404 ++++
.../WPILib-License.md | 0
{AdvKit2024 => FlexAdvKit2025}/build.gradle | 16 +-
.../gradle/wrapper/gradle-wrapper.jar | Bin
.../gradle/wrapper/gradle-wrapper.properties | 0
{AdvKit2024 => FlexAdvKit2025}/gradlew | 7 +-
{AdvKit2024 => FlexAdvKit2025}/gradlew.bat | 22 +-
.../settings.gradle | 2 +-
FlexAdvKit2025/simgui-ds.json | 98 +
.../src/main/deploy/choreo/3Piece.traj | 187 ++
.../src/main/deploy/choreo/Forward.traj | 107 ++
.../src/main/deploy/choreo/proj.chor | 78 +
.../main/deploy/pathplanner/autos/Test.auto | 14 +-
.../main/deploy/pathplanner/autos/Test2.auto | 31 +
.../src/main/deploy/pathplanner/navgrid.json | 1 +
.../main/deploy/pathplanner/paths/Test1.path | 54 +
.../main/deploy/pathplanner/paths/Test2.path | 54 +
.../main/deploy/pathplanner/paths/Test3.path | 54 +
.../main/deploy/pathplanner/paths/Test4.path | 54 +
.../main/deploy/pathplanner/paths/Test5.path | 54 +
.../src/main/deploy/pathplanner/settings.json | 34 +
.../main/java/frc/robot/BuildConstants.java | 17 +
.../src/main/java/frc/robot/Constants.java | 341 ++--
.../src/main/java/frc/robot/Main.java | 0
.../src/main/java/frc/robot/Robot.java | 19 +-
.../main/java/frc/robot/RobotContainer.java | 168 +-
.../main/java/frc/robot/commands/Autos.java | 119 ++
.../frc/robot/commands/DriveCommands.java | 25 +-
.../java/frc/robot/commands/NoteCommands.java | 93 +
.../frc/robot/subsystems/drive/Drive.java | 133 +-
.../drive/PhoenixOdometryThread.java | 0
.../robot/subsystems/drive/gyro/GyroIO.java | 0
.../subsystems/drive/gyro/GyroIOPigeon2.java | 0
.../subsystems/drive/gyro/GyroIOSim.java | 0
.../robot/subsystems/drive/module/Module.java | 26 +-
.../subsystems/drive/module/ModuleIO.java | 0
.../drive/module/ModuleIOTalonFX.java | 29 +-
.../drive/module/ModuleIOTalonFXReal.java | 6 +-
.../drive/module/ModuleIOTalonFXSim.java | 11 +-
.../frc/robot/subsystems/index/Index.java | 48 +
.../frc/robot/subsystems/index/IndexIO.java | 20 +-
.../robot/subsystems/index/IndexIOSim.java | 72 +-
.../subsystems/index/IndexIOSparkFlex.java | 30 +-
.../frc/robot/subsystems/intake/Intake.java | 39 +-
.../frc/robot/subsystems/intake/IntakeIO.java | 5 +-
.../robot/subsystems/intake/IntakeIOSim.java | 23 +-
.../subsystems/intake/IntakeIOSparkFlex.java | 81 +
.../subsystems/intake/IntakeIOTalonFX.java | 14 +-
.../frc/robot/subsystems/pivot/Pivot.java | 118 ++
.../frc/robot/subsystems/pivot/PivotIO.java | 8 +-
.../robot/subsystems/pivot/PivotIOSim.java | 92 +
.../subsystems/pivot/PivotIOTalonFX.java | 36 +-
.../frc/robot/subsystems/shooter/Shooter.java | 54 +
.../robot/subsystems/shooter/ShooterIO.java | 6 +-
.../subsystems/shooter/ShooterIOSim.java | 100 +
.../shooter/ShooterIOSparkFlex.java | 19 +-
.../frc/robot/subsystems/vision/Vision.java | 0
.../frc/robot/subsystems/vision/VisionIO.java | 0
.../subsystems/vision/VisionIOLimelight.java | 0
.../vision/VisionIOPhotonVision.java | 25 +
.../vision/VisionIOPhotonVisionSim.java | 7 +
.../java/frc/robot/util/LocalADStarAK.java | 0
.../main/java/frc/robot/util/PhoenixUtil.java | 6 +-
.../main/java/frc/robot/util/SparkUtil.java | 0
FlexAdvKit2025/vendordeps/AdvantageKit.json | 34 +
.../vendordeps/ChoreoLib-2025.0.0.json | 44 +
.../vendordeps/PathplannerLib-2025.1.1.json | 38 +
.../vendordeps/Phoenix6-25.1.0.json | 389 ++++
.../vendordeps/REVLib-2025.0.0.json | 74 +
.../vendordeps/WPILibNewCommands.json | 0
FlexAdvKit2025/vendordeps/maple-sim.json | 26 +
FlexAdvKit2025/vendordeps/photonlib.json | 71 +
.../deploy/pathplanner/autos/TestAuto.auto | 25 -
.../src/main/deploy/pathplanner/settings.json | 21 +
PIDTars/deploy/pathplanner/navgrid.json | 1 -
99 files changed, 3379 insertions(+), 4462 deletions(-)
delete mode 100644 AdvKit2024/.vscode/extensions.json
delete mode 100644 AdvKit2024/.vscode/settings.json
delete mode 100644 AdvKit2024/.wpilib/wpilib_preferences.json
delete mode 100644 AdvKit2024/AdvantageKit-License.md
delete mode 100644 AdvKit2024/AdvantageScope Swerve Calibration.json
delete mode 100644 AdvKit2024/src/main/deploy/pathplanner/navgrid.json
delete mode 100644 AdvKit2024/src/main/deploy/pathplanner/paths/Example Path.path
delete mode 100644 AdvKit2024/src/main/deploy/pathplanner/settings.json
delete mode 100644 AdvKit2024/src/main/java/frc/robot/subsystems/index/Index.java
delete mode 100644 AdvKit2024/src/main/java/frc/robot/subsystems/pivot/Pivot.java
delete mode 100644 AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
delete mode 100644 AdvKit2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java
delete mode 100644 AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
delete mode 100644 AdvKit2024/vendordeps/AdvantageKit.json
delete mode 100644 AdvKit2024/vendordeps/ChoreoLib2025Beta.json
delete mode 100644 AdvKit2024/vendordeps/PathplannerLib-beta.json
delete mode 100644 AdvKit2024/vendordeps/Phoenix6-25.0.0-beta-4.json
delete mode 100644 AdvKit2024/vendordeps/REVLib-2025.0.0-beta-3.json
delete mode 100644 AdvKit2024/vendordeps/maple-sim.json
delete mode 100644 AdvKit2024/vendordeps/photonlib.json
rename {AdvKit2024 => FlexAdvKit2025}/.gitignore (97%)
rename {AdvKit2024 => FlexAdvKit2025}/.vscode/launch.json (51%)
create mode 100644 FlexAdvKit2025/.vscode/settings.json
create mode 100644 FlexAdvKit2025/.wpilib/wpilib_preferences.json
create mode 100644 FlexAdvKit2025/2025-reefscape.json
rename {AdvKit2024 => FlexAdvKit2025}/WPILib-License.md (100%)
rename {AdvKit2024 => FlexAdvKit2025}/build.gradle (96%)
rename {AdvKit2024 => FlexAdvKit2025}/gradle/wrapper/gradle-wrapper.jar (100%)
rename {AdvKit2024 => FlexAdvKit2025}/gradle/wrapper/gradle-wrapper.properties (100%)
rename {AdvKit2024 => FlexAdvKit2025}/gradlew (96%)
rename {AdvKit2024 => FlexAdvKit2025}/gradlew.bat (91%)
rename {AdvKit2024 => FlexAdvKit2025}/settings.gradle (96%)
create mode 100644 FlexAdvKit2025/simgui-ds.json
create mode 100644 FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj
create mode 100644 FlexAdvKit2025/src/main/deploy/choreo/Forward.traj
create mode 100644 FlexAdvKit2025/src/main/deploy/choreo/proj.chor
rename AdvKit2024/src/main/deploy/pathplanner/autos/Example Auto.auto => FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto (50%)
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path
create mode 100644 FlexAdvKit2025/src/main/deploy/pathplanner/settings.json
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/Constants.java (58%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/Main.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/Robot.java (90%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/RobotContainer.java (63%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/commands/DriveCommands.java (93%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/Drive.java (77%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/module/Module.java (87%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java (90%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java (89%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java (84%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/index/IndexIO.java (50%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/index/IndexIOSim.java (65%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java (70%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/intake/Intake.java (53%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/intake/IntakeIO.java (76%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java (83%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java (90%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/pivot/PivotIO.java (75%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java (81%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java (79%)
create mode 100644 FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java (92%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/vision/Vision.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/vision/VisionIO.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java (74%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java (85%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/util/LocalADStarAK.java (100%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/util/PhoenixUtil.java (94%)
rename {AdvKit2024 => FlexAdvKit2025}/src/main/java/frc/robot/util/SparkUtil.java (100%)
create mode 100644 FlexAdvKit2025/vendordeps/AdvantageKit.json
create mode 100644 FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json
create mode 100644 FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json
create mode 100644 FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json
create mode 100644 FlexAdvKit2025/vendordeps/REVLib-2025.0.0.json
rename {AdvKit2024 => FlexAdvKit2025}/vendordeps/WPILibNewCommands.json (100%)
create mode 100644 FlexAdvKit2025/vendordeps/maple-sim.json
create mode 100644 FlexAdvKit2025/vendordeps/photonlib.json
delete mode 100644 FlexReboot/src/main/deploy/pathplanner/autos/TestAuto.auto
create mode 100644 FlexReboot/src/main/deploy/pathplanner/settings.json
delete mode 100644 PIDTars/deploy/pathplanner/navgrid.json
diff --git a/AdvKit2024/.vscode/extensions.json b/AdvKit2024/.vscode/extensions.json
deleted file mode 100644
index 567056a..0000000
--- a/AdvKit2024/.vscode/extensions.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "recommendations": [
- "richardwillis.vscode-spotless-gradle"
- ]
-}
diff --git a/AdvKit2024/.vscode/settings.json b/AdvKit2024/.vscode/settings.json
deleted file mode 100644
index 4517284..0000000
--- a/AdvKit2024/.vscode/settings.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
- "java.configuration.updateBuildConfiguration": "automatic",
- "java.server.launchMode": "Standard",
- "files.exclude": {
- "**/.git": true,
- "**/.svn": true,
- "**/.hg": true,
- "**/CVS": true,
- "**/.DS_Store": true,
- "bin/": true,
- "**/.classpath": true,
- "**/.project": true,
- "**/.settings": true,
- "**/.factorypath": true,
- "**/*~": true
- },
- "java.test.config": [
- {
- "name": "WPIlibUnitTests",
- "workingDirectory": "${workspaceFolder}/build/jni/release",
- "vmargs": [
- "-Djava.library.path=${workspaceFolder}/build/jni/release"
- ],
- "env": {
- "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
- "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
- }
- },
- null
- ],
- "java.test.defaultConfig": "WPIlibUnitTests",
- "spotlessGradle.format.enable": true,
- "spotlessGradle.diagnostics.enable": false,
- "java.import.gradle.annotationProcessing.enabled": false,
- "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle",
- "[json]": {
- "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
- },
- "[java]": {
- "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
- },
- "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
-}
diff --git a/AdvKit2024/.wpilib/wpilib_preferences.json b/AdvKit2024/.wpilib/wpilib_preferences.json
deleted file mode 100644
index c0c5d82..0000000
--- a/AdvKit2024/.wpilib/wpilib_preferences.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
- "enableCppIntellisense": false,
- "currentLanguage": "java",
- "projectYear": "2025beta",
- "teamNumber": 6672
-}
diff --git a/AdvKit2024/AdvantageKit-License.md b/AdvKit2024/AdvantageKit-License.md
deleted file mode 100644
index f288702..0000000
--- a/AdvKit2024/AdvantageKit-License.md
+++ /dev/null
@@ -1,674 +0,0 @@
- GNU GENERAL PUBLIC LICENSE
- Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc.
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
- Preamble
-
- The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
- The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works. By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users. We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors. You can apply it to
-your programs, too.
-
- When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
- To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights. Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
- For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received. You must make sure that they, too, receive
-or can get the source code. And you must show them these terms so they
-know their rights.
-
- Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
-
- For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software. For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
- Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so. This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software. The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable. Therefore, we
-have designed this version of the GPL to prohibit the practice for those
-products. If such problems arise substantially in other domains, we
-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
- Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
-make it effectively proprietary. To prevent this, the GPL assures that
-patents cannot be used to render the program non-free.
-
- The precise terms and conditions for copying, distribution and
-modification follow.
-
- TERMS AND CONDITIONS
-
- 0. Definitions.
-
- "This License" refers to version 3 of the GNU General Public License.
-
- "Copyright" also means copyright-like laws that apply to other kinds of
-works, such as semiconductor masks.
-
- "The Program" refers to any copyrightable work licensed under this
-License. Each licensee is addressed as "you". "Licensees" and
-"recipients" may be individuals or organizations.
-
- To "modify" a work means to copy from or adapt all or part of the work
-in a fashion requiring copyright permission, other than the making of an
-exact copy. The resulting work is called a "modified version" of the
-earlier work or a work "based on" the earlier work.
-
- A "covered work" means either the unmodified Program or a work based
-on the Program.
-
- To "propagate" a work means to do anything with it that, without
-permission, would make you directly or secondarily liable for
-infringement under applicable copyright law, except executing it on a
-computer or modifying a private copy. Propagation includes copying,
-distribution (with or without modification), making available to the
-public, and in some countries other activities as well.
-
- To "convey" a work means any kind of propagation that enables other
-parties to make or receive copies. Mere interaction with a user through
-a computer network, with no transfer of a copy, is not conveying.
-
- An interactive user interface displays "Appropriate Legal Notices"
-to the extent that it includes a convenient and prominently visible
-feature that (1) displays an appropriate copyright notice, and (2)
-tells the user that there is no warranty for the work (except to the
-extent that warranties are provided), that licensees may convey the
-work under this License, and how to view a copy of this License. If
-the interface presents a list of user commands or options, such as a
-menu, a prominent item in the list meets this criterion.
-
- 1. Source Code.
-
- The "source code" for a work means the preferred form of the work
-for making modifications to it. "Object code" means any non-source
-form of a work.
-
- A "Standard Interface" means an interface that either is an official
-standard defined by a recognized standards body, or, in the case of
-interfaces specified for a particular programming language, one that
-is widely used among developers working in that language.
-
- The "System Libraries" of an executable work include anything, other
-than the work as a whole, that (a) is included in the normal form of
-packaging a Major Component, but which is not part of that Major
-Component, and (b) serves only to enable use of the work with that
-Major Component, or to implement a Standard Interface for which an
-implementation is available to the public in source code form. A
-"Major Component", in this context, means a major essential component
-(kernel, window system, and so on) of the specific operating system
-(if any) on which the executable work runs, or a compiler used to
-produce the work, or an object code interpreter used to run it.
-
- The "Corresponding Source" for a work in object code form means all
-the source code needed to generate, install, and (for an executable
-work) run the object code and to modify the work, including scripts to
-control those activities. However, it does not include the work's
-System Libraries, or general-purpose tools or generally available free
-programs which are used unmodified in performing those activities but
-which are not part of the work. For example, Corresponding Source
-includes interface definition files associated with source files for
-the work, and the source code for shared libraries and dynamically
-linked subprograms that the work is specifically designed to require,
-such as by intimate data communication or control flow between those
-subprograms and other parts of the work.
-
- The Corresponding Source need not include anything that users
-can regenerate automatically from other parts of the Corresponding
-Source.
-
- The Corresponding Source for a work in source code form is that
-same work.
-
- 2. Basic Permissions.
-
- All rights granted under this License are granted for the term of
-copyright on the Program, and are irrevocable provided the stated
-conditions are met. This License explicitly affirms your unlimited
-permission to run the unmodified Program. The output from running a
-covered work is covered by this License only if the output, given its
-content, constitutes a covered work. This License acknowledges your
-rights of fair use or other equivalent, as provided by copyright law.
-
- You may make, run and propagate covered works that you do not
-convey, without conditions so long as your license otherwise remains
-in force. You may convey covered works to others for the sole purpose
-of having them make modifications exclusively for you, or provide you
-with facilities for running those works, provided that you comply with
-the terms of this License in conveying all material for which you do
-not control copyright. Those thus making or running the covered works
-for you must do so exclusively on your behalf, under your direction
-and control, on terms that prohibit them from making any copies of
-your copyrighted material outside their relationship with you.
-
- Conveying under any other circumstances is permitted solely under
-the conditions stated below. Sublicensing is not allowed; section 10
-makes it unnecessary.
-
- 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
-
- No covered work shall be deemed part of an effective technological
-measure under any applicable law fulfilling obligations under article
-11 of the WIPO copyright treaty adopted on 20 December 1996, or
-similar laws prohibiting or restricting circumvention of such
-measures.
-
- When you convey a covered work, you waive any legal power to forbid
-circumvention of technological measures to the extent such circumvention
-is effected by exercising rights under this License with respect to
-the covered work, and you disclaim any intention to limit operation or
-modification of the work as a means of enforcing, against the work's
-users, your or third parties' legal rights to forbid circumvention of
-technological measures.
-
- 4. Conveying Verbatim Copies.
-
- You may convey verbatim copies of the Program's source code as you
-receive it, in any medium, provided that you conspicuously and
-appropriately publish on each copy an appropriate copyright notice;
-keep intact all notices stating that this License and any
-non-permissive terms added in accord with section 7 apply to the code;
-keep intact all notices of the absence of any warranty; and give all
-recipients a copy of this License along with the Program.
-
- You may charge any price or no price for each copy that you convey,
-and you may offer support or warranty protection for a fee.
-
- 5. Conveying Modified Source Versions.
-
- You may convey a work based on the Program, or the modifications to
-produce it from the Program, in the form of source code under the
-terms of section 4, provided that you also meet all of these conditions:
-
- a) The work must carry prominent notices stating that you modified
- it, and giving a relevant date.
-
- b) The work must carry prominent notices stating that it is
- released under this License and any conditions added under section
- 7. This requirement modifies the requirement in section 4 to
- "keep intact all notices".
-
- c) You must license the entire work, as a whole, under this
- License to anyone who comes into possession of a copy. This
- License will therefore apply, along with any applicable section 7
- additional terms, to the whole of the work, and all its parts,
- regardless of how they are packaged. This License gives no
- permission to license the work in any other way, but it does not
- invalidate such permission if you have separately received it.
-
- d) If the work has interactive user interfaces, each must display
- Appropriate Legal Notices; however, if the Program has interactive
- interfaces that do not display Appropriate Legal Notices, your
- work need not make them do so.
-
- A compilation of a covered work with other separate and independent
-works, which are not by their nature extensions of the covered work,
-and which are not combined with it such as to form a larger program,
-in or on a volume of a storage or distribution medium, is called an
-"aggregate" if the compilation and its resulting copyright are not
-used to limit the access or legal rights of the compilation's users
-beyond what the individual works permit. Inclusion of a covered work
-in an aggregate does not cause this License to apply to the other
-parts of the aggregate.
-
- 6. Conveying Non-Source Forms.
-
- You may convey a covered work in object code form under the terms
-of sections 4 and 5, provided that you also convey the
-machine-readable Corresponding Source under the terms of this License,
-in one of these ways:
-
- a) Convey the object code in, or embodied in, a physical product
- (including a physical distribution medium), accompanied by the
- Corresponding Source fixed on a durable physical medium
- customarily used for software interchange.
-
- b) Convey the object code in, or embodied in, a physical product
- (including a physical distribution medium), accompanied by a
- written offer, valid for at least three years and valid for as
- long as you offer spare parts or customer support for that product
- model, to give anyone who possesses the object code either (1) a
- copy of the Corresponding Source for all the software in the
- product that is covered by this License, on a durable physical
- medium customarily used for software interchange, for a price no
- more than your reasonable cost of physically performing this
- conveying of source, or (2) access to copy the
- Corresponding Source from a network server at no charge.
-
- c) Convey individual copies of the object code with a copy of the
- written offer to provide the Corresponding Source. This
- alternative is allowed only occasionally and noncommercially, and
- only if you received the object code with such an offer, in accord
- with subsection 6b.
-
- d) Convey the object code by offering access from a designated
- place (gratis or for a charge), and offer equivalent access to the
- Corresponding Source in the same way through the same place at no
- further charge. You need not require recipients to copy the
- Corresponding Source along with the object code. If the place to
- copy the object code is a network server, the Corresponding Source
- may be on a different server (operated by you or a third party)
- that supports equivalent copying facilities, provided you maintain
- clear directions next to the object code saying where to find the
- Corresponding Source. Regardless of what server hosts the
- Corresponding Source, you remain obligated to ensure that it is
- available for as long as needed to satisfy these requirements.
-
- e) Convey the object code using peer-to-peer transmission, provided
- you inform other peers where the object code and Corresponding
- Source of the work are being offered to the general public at no
- charge under subsection 6d.
-
- A separable portion of the object code, whose source code is excluded
-from the Corresponding Source as a System Library, need not be
-included in conveying the object code work.
-
- A "User Product" is either (1) a "consumer product", which means any
-tangible personal property which is normally used for personal, family,
-or household purposes, or (2) anything designed or sold for incorporation
-into a dwelling. In determining whether a product is a consumer product,
-doubtful cases shall be resolved in favor of coverage. For a particular
-product received by a particular user, "normally used" refers to a
-typical or common use of that class of product, regardless of the status
-of the particular user or of the way in which the particular user
-actually uses, or expects or is expected to use, the product. A product
-is a consumer product regardless of whether the product has substantial
-commercial, industrial or non-consumer uses, unless such uses represent
-the only significant mode of use of the product.
-
- "Installation Information" for a User Product means any methods,
-procedures, authorization keys, or other information required to install
-and execute modified versions of a covered work in that User Product from
-a modified version of its Corresponding Source. The information must
-suffice to ensure that the continued functioning of the modified object
-code is in no case prevented or interfered with solely because
-modification has been made.
-
- If you convey an object code work under this section in, or with, or
-specifically for use in, a User Product, and the conveying occurs as
-part of a transaction in which the right of possession and use of the
-User Product is transferred to the recipient in perpetuity or for a
-fixed term (regardless of how the transaction is characterized), the
-Corresponding Source conveyed under this section must be accompanied
-by the Installation Information. But this requirement does not apply
-if neither you nor any third party retains the ability to install
-modified object code on the User Product (for example, the work has
-been installed in ROM).
-
- The requirement to provide Installation Information does not include a
-requirement to continue to provide support service, warranty, or updates
-for a work that has been modified or installed by the recipient, or for
-the User Product in which it has been modified or installed. Access to a
-network may be denied when the modification itself materially and
-adversely affects the operation of the network or violates the rules and
-protocols for communication across the network.
-
- Corresponding Source conveyed, and Installation Information provided,
-in accord with this section must be in a format that is publicly
-documented (and with an implementation available to the public in
-source code form), and must require no special password or key for
-unpacking, reading or copying.
-
- 7. Additional Terms.
-
- "Additional permissions" are terms that supplement the terms of this
-License by making exceptions from one or more of its conditions.
-Additional permissions that are applicable to the entire Program shall
-be treated as though they were included in this License, to the extent
-that they are valid under applicable law. If additional permissions
-apply only to part of the Program, that part may be used separately
-under those permissions, but the entire Program remains governed by
-this License without regard to the additional permissions.
-
- When you convey a copy of a covered work, you may at your option
-remove any additional permissions from that copy, or from any part of
-it. (Additional permissions may be written to require their own
-removal in certain cases when you modify the work.) You may place
-additional permissions on material, added by you to a covered work,
-for which you have or can give appropriate copyright permission.
-
- Notwithstanding any other provision of this License, for material you
-add to a covered work, you may (if authorized by the copyright holders of
-that material) supplement the terms of this License with terms:
-
- a) Disclaiming warranty or limiting liability differently from the
- terms of sections 15 and 16 of this License; or
-
- b) Requiring preservation of specified reasonable legal notices or
- author attributions in that material or in the Appropriate Legal
- Notices displayed by works containing it; or
-
- c) Prohibiting misrepresentation of the origin of that material, or
- requiring that modified versions of such material be marked in
- reasonable ways as different from the original version; or
-
- d) Limiting the use for publicity purposes of names of licensors or
- authors of the material; or
-
- e) Declining to grant rights under trademark law for use of some
- trade names, trademarks, or service marks; or
-
- f) Requiring indemnification of licensors and authors of that
- material by anyone who conveys the material (or modified versions of
- it) with contractual assumptions of liability to the recipient, for
- any liability that these contractual assumptions directly impose on
- those licensors and authors.
-
- All other non-permissive additional terms are considered "further
-restrictions" within the meaning of section 10. If the Program as you
-received it, or any part of it, contains a notice stating that it is
-governed by this License along with a term that is a further
-restriction, you may remove that term. If a license document contains
-a further restriction but permits relicensing or conveying under this
-License, you may add to a covered work material governed by the terms
-of that license document, provided that the further restriction does
-not survive such relicensing or conveying.
-
- If you add terms to a covered work in accord with this section, you
-must place, in the relevant source files, a statement of the
-additional terms that apply to those files, or a notice indicating
-where to find the applicable terms.
-
- Additional terms, permissive or non-permissive, may be stated in the
-form of a separately written license, or stated as exceptions;
-the above requirements apply either way.
-
- 8. Termination.
-
- You may not propagate or modify a covered work except as expressly
-provided under this License. Any attempt otherwise to propagate or
-modify it is void, and will automatically terminate your rights under
-this License (including any patent licenses granted under the third
-paragraph of section 11).
-
- However, if you cease all violation of this License, then your
-license from a particular copyright holder is reinstated (a)
-provisionally, unless and until the copyright holder explicitly and
-finally terminates your license, and (b) permanently, if the copyright
-holder fails to notify you of the violation by some reasonable means
-prior to 60 days after the cessation.
-
- Moreover, your license from a particular copyright holder is
-reinstated permanently if the copyright holder notifies you of the
-violation by some reasonable means, this is the first time you have
-received notice of violation of this License (for any work) from that
-copyright holder, and you cure the violation prior to 30 days after
-your receipt of the notice.
-
- Termination of your rights under this section does not terminate the
-licenses of parties who have received copies or rights from you under
-this License. If your rights have been terminated and not permanently
-reinstated, you do not qualify to receive new licenses for the same
-material under section 10.
-
- 9. Acceptance Not Required for Having Copies.
-
- You are not required to accept this License in order to receive or
-run a copy of the Program. Ancillary propagation of a covered work
-occurring solely as a consequence of using peer-to-peer transmission
-to receive a copy likewise does not require acceptance. However,
-nothing other than this License grants you permission to propagate or
-modify any covered work. These actions infringe copyright if you do
-not accept this License. Therefore, by modifying or propagating a
-covered work, you indicate your acceptance of this License to do so.
-
- 10. Automatic Licensing of Downstream Recipients.
-
- Each time you convey a covered work, the recipient automatically
-receives a license from the original licensors, to run, modify and
-propagate that work, subject to this License. You are not responsible
-for enforcing compliance by third parties with this License.
-
- An "entity transaction" is a transaction transferring control of an
-organization, or substantially all assets of one, or subdividing an
-organization, or merging organizations. If propagation of a covered
-work results from an entity transaction, each party to that
-transaction who receives a copy of the work also receives whatever
-licenses to the work the party's predecessor in interest had or could
-give under the previous paragraph, plus a right to possession of the
-Corresponding Source of the work from the predecessor in interest, if
-the predecessor has it or can get it with reasonable efforts.
-
- You may not impose any further restrictions on the exercise of the
-rights granted or affirmed under this License. For example, you may
-not impose a license fee, royalty, or other charge for exercise of
-rights granted under this License, and you may not initiate litigation
-(including a cross-claim or counterclaim in a lawsuit) alleging that
-any patent claim is infringed by making, using, selling, offering for
-sale, or importing the Program or any portion of it.
-
- 11. Patents.
-
- A "contributor" is a copyright holder who authorizes use under this
-License of the Program or a work on which the Program is based. The
-work thus licensed is called the contributor's "contributor version".
-
- A contributor's "essential patent claims" are all patent claims
-owned or controlled by the contributor, whether already acquired or
-hereafter acquired, that would be infringed by some manner, permitted
-by this License, of making, using, or selling its contributor version,
-but do not include claims that would be infringed only as a
-consequence of further modification of the contributor version. For
-purposes of this definition, "control" includes the right to grant
-patent sublicenses in a manner consistent with the requirements of
-this License.
-
- Each contributor grants you a non-exclusive, worldwide, royalty-free
-patent license under the contributor's essential patent claims, to
-make, use, sell, offer for sale, import and otherwise run, modify and
-propagate the contents of its contributor version.
-
- In the following three paragraphs, a "patent license" is any express
-agreement or commitment, however denominated, not to enforce a patent
-(such as an express permission to practice a patent or covenant not to
-sue for patent infringement). To "grant" such a patent license to a
-party means to make such an agreement or commitment not to enforce a
-patent against the party.
-
- If you convey a covered work, knowingly relying on a patent license,
-and the Corresponding Source of the work is not available for anyone
-to copy, free of charge and under the terms of this License, through a
-publicly available network server or other readily accessible means,
-then you must either (1) cause the Corresponding Source to be so
-available, or (2) arrange to deprive yourself of the benefit of the
-patent license for this particular work, or (3) arrange, in a manner
-consistent with the requirements of this License, to extend the patent
-license to downstream recipients. "Knowingly relying" means you have
-actual knowledge that, but for the patent license, your conveying the
-covered work in a country, or your recipient's use of the covered work
-in a country, would infringe one or more identifiable patents in that
-country that you have reason to believe are valid.
-
- If, pursuant to or in connection with a single transaction or
-arrangement, you convey, or propagate by procuring conveyance of, a
-covered work, and grant a patent license to some of the parties
-receiving the covered work authorizing them to use, propagate, modify
-or convey a specific copy of the covered work, then the patent license
-you grant is automatically extended to all recipients of the covered
-work and works based on it.
-
- A patent license is "discriminatory" if it does not include within
-the scope of its coverage, prohibits the exercise of, or is
-conditioned on the non-exercise of one or more of the rights that are
-specifically granted under this License. You may not convey a covered
-work if you are a party to an arrangement with a third party that is
-in the business of distributing software, under which you make payment
-to the third party based on the extent of your activity of conveying
-the work, and under which the third party grants, to any of the
-parties who would receive the covered work from you, a discriminatory
-patent license (a) in connection with copies of the covered work
-conveyed by you (or copies made from those copies), or (b) primarily
-for and in connection with specific products or compilations that
-contain the covered work, unless you entered into that arrangement,
-or that patent license was granted, prior to 28 March 2007.
-
- Nothing in this License shall be construed as excluding or limiting
-any implied license or other defenses to infringement that may
-otherwise be available to you under applicable patent law.
-
- 12. No Surrender of Others' Freedom.
-
- If conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License. If you cannot convey a
-covered work so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you may
-not convey it at all. For example, if you agree to terms that obligate you
-to collect a royalty for further conveying from those to whom you convey
-the Program, the only way you could satisfy both those terms and this
-License would be to refrain entirely from conveying the Program.
-
- 13. Use with the GNU Affero General Public License.
-
- Notwithstanding any other provision of this License, you have
-permission to link or combine any covered work with a work licensed
-under version 3 of the GNU Affero General Public License into a single
-combined work, and to convey the resulting work. The terms of this
-License will continue to apply to the part which is the covered work,
-but the special requirements of the GNU Affero General Public License,
-section 13, concerning interaction through a network will apply to the
-combination as such.
-
- 14. Revised Versions of this License.
-
- The Free Software Foundation may publish revised and/or new versions of
-the GNU General Public License from time to time. Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
- Each version is given a distinguishing version number. If the
-Program specifies that a certain numbered version of the GNU General
-Public License "or any later version" applies to it, you have the
-option of following the terms and conditions either of that numbered
-version or of any later version published by the Free Software
-Foundation. If the Program does not specify a version number of the
-GNU General Public License, you may choose any version ever published
-by the Free Software Foundation.
-
- If the Program specifies that a proxy can decide which future
-versions of the GNU General Public License can be used, that proxy's
-public statement of acceptance of a version permanently authorizes you
-to choose that version for the Program.
-
- Later license versions may give you additional or different
-permissions. However, no additional obligations are imposed on any
-author or copyright holder as a result of your choosing to follow a
-later version.
-
- 15. Disclaimer of Warranty.
-
- THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
-APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
-HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
-OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
-IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
-ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
-
- 16. Limitation of Liability.
-
- IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
-THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
-GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
-USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
-DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
-PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
-EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGES.
-
- 17. Interpretation of Sections 15 and 16.
-
- If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
- END OF TERMS AND CONDITIONS
-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
-
- Copyright (C)
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see .
-
-Also add information on how to contact you by electronic and paper mail.
-
- If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
- Copyright (C)
- This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
- You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-.
-
- The GNU General Public License does not permit incorporating your program
-into proprietary programs. If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library. If this is what you want to do, use the GNU Lesser General
-Public License instead of this License. But first, please read
-.
diff --git a/AdvKit2024/AdvantageScope Swerve Calibration.json b/AdvKit2024/AdvantageScope Swerve Calibration.json
deleted file mode 100644
index e3c2d54..0000000
--- a/AdvKit2024/AdvantageScope Swerve Calibration.json
+++ /dev/null
@@ -1,463 +0,0 @@
-{
- "hubs": [
- {
- "x": 139,
- "y": 95,
- "width": 1100,
- "height": 650,
- "state": {
- "sidebar": {
- "width": 300,
- "expanded": [
- "/Drive",
- "/RealOutputs",
- "/RealOutputs/SwerveStates",
- "/RealOutputs/SwerveChassisSpeeds",
- "/RealOutputs/Odometry"
- ]
- },
- "tabs": {
- "selected": 1,
- "tabs": [
- {
- "type": 0,
- "title": "",
- "controller": null,
- "controllerUUID": "grimvlgu9aluj8btvwotco2wpj0pto2h",
- "renderer": "#/",
- "controlsHeight": 0
- },
- {
- "type": 9,
- "title": "Drive Overview",
- "controller": {
- "sources": [
- {
- "type": "states",
- "logKey": "/RealOutputs/SwerveStates/Measured",
- "logType": "SwerveModuleState[]",
- "visible": true,
- "options": {
- "color": "#ff0000",
- "arrangement": "0,1,2,3"
- }
- },
- {
- "type": "states",
- "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized",
- "logType": "SwerveModuleState[]",
- "visible": true,
- "options": {
- "color": "#00ffff",
- "arrangement": "0,1,2,3"
- }
- },
- {
- "type": "chassisSpeeds",
- "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured",
- "logType": "ChassisSpeeds",
- "visible": true,
- "options": {
- "color": "#ff0000"
- }
- },
- {
- "type": "chassisSpeeds",
- "logKey": "/RealOutputs/SwerveChassisSpeeds/Setpoints",
- "logType": "ChassisSpeeds",
- "visible": true,
- "options": {
- "color": "#00ffff"
- }
- },
- {
- "type": "rotation",
- "logKey": "/RealOutputs/Odometry/Robot/rotation",
- "logType": "Rotation2d",
- "visible": true,
- "options": {}
- }
- ],
- "maxSpeed": 5,
- "sizeX": 0.65,
- "sizeY": 0.65,
- "orientation": 1
- },
- "controllerUUID": "prdx7t2eedan6n46dxrjfu7eisf16f9o",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 3,
- "title": "Field",
- "controller": {
- "sources": [
- {
- "type": "robot",
- "logKey": "/RealOutputs/Odometry/Robot",
- "logType": "Pose2d",
- "visible": true,
- "options": {
- "model": "Crab Bot"
- }
- },
- {
- "type": "trajectory",
- "logKey": "/RealOutputs/Odometry/Trajectory",
- "logType": "Pose2d[]",
- "visible": true,
- "options": {
- "color": "#ff8c00",
- "size": "normal"
- }
- },
- {
- "type": "ghost",
- "logKey": "/RealOutputs/Odometry/TrajectorySetpoint",
- "logType": "Pose2d",
- "visible": true,
- "options": {
- "model": "Crab Bot",
- "color": "#ff8c00"
- }
- }
- ],
- "game": "2024 Field",
- "origin": "blue"
- },
- "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte",
- "renderer": {
- "cameraIndex": -1,
- "orbitFov": 50,
- "cameraPosition": [
- 1.4695761589768238e-15,
- 5.999999999999999,
- -12
- ],
- "cameraTarget": [
- 0,
- 0.5,
- 0
- ]
- },
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Turn Calibration",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/Drive/Module0/TurnPosition/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module1/TurnPosition/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#af2437",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module2/TurnPosition/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#80588e",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module3/TurnPosition/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e48b32",
- "size": "normal"
- }
- }
- ],
- "rightSources": [],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "ol8lk80m83ma3aegae849d6k1d29sp7d",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Drive Calibration",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/Drive/Module0/DrivePositionRad",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module1/DrivePositionRad",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#af2437",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module2/DrivePositionRad",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#80588e",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/Drive/Module3/DrivePositionRad",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e48b32",
- "size": "normal"
- }
- }
- ],
- "rightSources": [],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "7jj1f83nsv59dd2ou11ls3ccz5tq1293",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Turn PID Tuning",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveStates/Measured/0/angle/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#2b66a2",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/angle/value",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- }
- ],
- "rightSources": [],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "kj6tf6sxm5g04wnjrhed6mx2wpccmqtn",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Drive PID Tuning",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveStates/Measured/0/speed",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#2b66a2",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/speed",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- }
- ],
- "rightSources": [],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "bctxg9pmwpo31m9bv9ofr92oqqtbpqzp",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Max Speed Measurement",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vx",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#2b66a2",
- "size": "normal"
- }
- },
- {
- "type": "stepped",
- "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vy",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- }
- ],
- "rightSources": [],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "oy3vmjuhr7g36evikwnmjhfacl30mzn5",
- "renderer": null,
- "controlsHeight": 200
- },
- {
- "type": 1,
- "title": "Slip Current Measurement",
- "controller": {
- "leftSources": [
- {
- "type": "stepped",
- "logKey": "/Drive/Module0/DriveCurrentAmps",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#2b66a2",
- "size": "normal"
- }
- }
- ],
- "rightSources": [
- {
- "type": "stepped",
- "logKey": "/Drive/Module0/DriveVelocityRadPerSec",
- "logType": "Number",
- "visible": true,
- "options": {
- "color": "#e5b31b",
- "size": "normal"
- }
- }
- ],
- "discreteSources": [],
- "leftLockedRange": null,
- "rightLockedRange": null,
- "leftUnitConversion": {
- "type": null,
- "factor": 1
- },
- "rightUnitConversion": {
- "type": null,
- "factor": 1
- },
- "leftFilter": 0,
- "rightFilter": 0
- },
- "controllerUUID": "efudylbvebbv1ga2kosknov0uegmtj7h",
- "renderer": null,
- "controlsHeight": 200
- }
- ]
- }
- }
- }
- ],
- "satellites": [],
- "version": "4.0.0-beta-3"
-}
diff --git a/AdvKit2024/src/main/deploy/pathplanner/navgrid.json b/AdvKit2024/src/main/deploy/pathplanner/navgrid.json
deleted file mode 100644
index 690f5db..0000000
--- a/AdvKit2024/src/main/deploy/pathplanner/navgrid.json
+++ /dev/null
@@ -1,1633 +0,0 @@
-{
- "field_size": {
- "x": 16.54,
- "y": 8.21
- },
- "nodeSizeMeters": 0.3,
- "grid": [
- [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true,
- true
- ],
- [
- true,
- true,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ]
- ]
-}
diff --git a/AdvKit2024/src/main/deploy/pathplanner/paths/Example Path.path b/AdvKit2024/src/main/deploy/pathplanner/paths/Example Path.path
deleted file mode 100644
index 303dbb2..0000000
--- a/AdvKit2024/src/main/deploy/pathplanner/paths/Example Path.path
+++ /dev/null
@@ -1,70 +0,0 @@
-{
- "version": "2025.0",
- "waypoints": [
- {
- "anchor": {
- "x": 2.0,
- "y": 7.0
- },
- "prevControl": null,
- "nextControl": {
- "x": 3.013282910175676,
- "y": 6.5274984191074985
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 5.166769560390973,
- "y": 5.0964860911203305
- },
- "prevControl": {
- "x": 4.166769560390973,
- "y": 6.0964860911203305
- },
- "nextControl": {
- "x": 6.166769560390973,
- "y": 4.0964860911203305
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.0,
- "y": 1.0
- },
- "prevControl": {
- "x": 6.75,
- "y": 2.5
- },
- "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": false
-}
\ No newline at end of file
diff --git a/AdvKit2024/src/main/deploy/pathplanner/settings.json b/AdvKit2024/src/main/deploy/pathplanner/settings.json
deleted file mode 100644
index f981b63..0000000
--- a/AdvKit2024/src/main/deploy/pathplanner/settings.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
- "robotWidth": 0.9,
- "robotLength": 0.9,
- "holonomicMode": true,
- "pathFolders": [],
- "autoFolders": [],
- "defaultMaxVel": 3.0,
- "defaultMaxAccel": 3.0,
- "defaultMaxAngVel": 540.0,
- "defaultMaxAngAccel": 720.0,
- "robotMass": 74.088,
- "robotMOI": 6.883,
- "robotWheelbase": 0.546,
- "robotTrackwidth": 0.546,
- "driveWheelRadius": 0.048,
- "driveGearing": 5.143,
- "maxDriveSpeed": 5.45,
- "driveMotorType": "krakenX60FOC",
- "driveCurrentLimit": 60.0,
- "wheelCOF": 1.2
-}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/index/Index.java b/AdvKit2024/src/main/java/frc/robot/subsystems/index/Index.java
deleted file mode 100644
index 80c3a2b..0000000
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/index/Index.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package frc.robot.subsystems.index;
-
-import static edu.wpi.first.units.Units.Volts;
-import static frc.robot.Constants.IndexConstants.*;
-
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import org.littletonrobotics.junction.Logger;
-
-public class Index extends SubsystemBase {
- private final IndexIO io;
- private final IndexIOInputsAutoLogged inputs = new IndexIOInputsAutoLogged();
-
- Alert indexMotorDisconnected = new Alert("Disconnected Index Motor.", AlertType.kError);
-
- public Index(IndexIO io) {
- this.io = io;
- }
-
- @Override
- public void periodic() {
- setDefaultCommand(manageOutput());
- io.updateInputs(inputs);
- Logger.processInputs("Index", inputs);
-
- indexMotorDisconnected.set(!inputs.indexMotorConnected);
- }
-
- public Command setVelocityState(IndexIO.IndexState state) {
- return runOnce(() -> io.setIndexState(state));
- }
-
- private Command manageOutput() {
- return run(
- () -> {
- switch (inputs.indexState) {
- case IDLE:
- io.setOutputVolts(Volts.of(0.0));
- break;
- case SHOOT:
- io.setOutputVolts(Volts.of(INDEX_RUN_PCT * 12.0));
- break;
- case INTAKE:
- io.setOutputVolts(Volts.of(INDEX_RUN_PCT * 12.0));
- break;
- case EXTAKE:
- io.setOutputVolts(Volts.of(-INDEX_RUN_PCT * 12.0));
- break;
- case AMP:
- io.setOutputVolts(Volts.of(INDEX_AMP_PCT * 12.0));
- break;
- default:
- setVelocityState(IndexIO.IndexState.IDLE);
- break;
- }
- });
- }
-}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/Pivot.java
deleted file mode 100644
index 8a31aa6..0000000
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/Pivot.java
+++ /dev/null
@@ -1,84 +0,0 @@
-package frc.robot.subsystems.pivot;
-
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.Rotations;
-import static frc.robot.Constants.PivotConstants.*;
-
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import org.littletonrobotics.junction.AutoLogOutput;
-import org.littletonrobotics.junction.Logger;
-
-public class Pivot extends SubsystemBase {
- public static enum PivotState {
- IDLE,
- INTAKE,
- SUBWOOFER,
- AMP,
- SHUTTLE,
- EXTAKE
- }
-
- private final PivotIO io;
- private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged();
-
- Alert pivotMainDisconnected = new Alert("Disconnected Pivot Main Motor.", AlertType.kError);
- Alert pivotFollowerDisconnected =
- new Alert("Disconnected Pivot Follower Motor.", AlertType.kError);
-
- @AutoLogOutput private PivotState state = PivotState.IDLE;
-
- public Pivot(PivotIO io) {
- this.io = io;
- }
-
- @Override
- public void periodic() {
- setDefaultCommand(managePosition());
- io.updateInputs(inputs);
- Logger.processInputs("Pivot", inputs);
-
- pivotMainDisconnected.set(!inputs.pivotMainConnected);
- pivotFollowerDisconnected.set(!inputs.pivotFollowerConnected);
- }
-
- public Command setPositionState(PivotState state) {
- return runOnce(() -> this.state = state);
- }
-
- private Command managePosition() {
- return run(
- () -> {
- switch (state) {
- case IDLE:
- io.setPosition(Rotations.of(0.0));
- break;
- case INTAKE:
- io.setPosition(PIVOT_STOW_POS);
- break;
- case SUBWOOFER:
- io.setPosition(PIVOT_SUB_POS);
- break;
- case AMP:
- io.setPosition(PIVOT_AMP_POS);
- break;
- case SHUTTLE:
- io.setPosition(PIVOT_SHUTTLING_POS);
- break;
- case EXTAKE:
- io.setPosition(PIVOT_STOW_POS);
- break;
- default:
- io.setPosition(PIVOT_STOW_POS);
- break;
- }
- });
- }
-
- public Angle getPivotAngle() {
- return Radians.of(inputs.pivotMainPositionRad);
- }
-}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
deleted file mode 100644
index ee839b3..0000000
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
+++ /dev/null
@@ -1,74 +0,0 @@
-package frc.robot.subsystems.pivot;
-
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-import static frc.robot.Constants.PivotConstants.PIVOT_GEAR_RATIO;
-import static frc.robot.Constants.PivotConstants.PIVOT_kD;
-import static frc.robot.Constants.PivotConstants.PIVOT_kI;
-import static frc.robot.Constants.PivotConstants.PIVOT_kP;
-import static frc.robot.Constants.PivotConstants.PIVOT_kV;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.ArmFeedforward;
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.Voltage;
-import edu.wpi.first.wpilibj.simulation.DCMotorSim;
-
-public class PivotIOSim implements PivotIO {
- private DCMotorSim pivotSim;
-
- ArmFeedforward pivotFeedforward = new ArmFeedforward(0.0, 0.0, PIVOT_kV);
- PIDController pivotController = new PIDController(PIVOT_kP, PIVOT_kI, PIVOT_kD);
-
- private final DCMotor PIVOT_GEARBOX = DCMotor.getKrakenX60Foc(2);
-
- Angle pivotTargetPosition = Radians.of(0.0);
-
- public PivotIOSim() {
- pivotSim =
- new DCMotorSim(
- LinearSystemId.createDCMotorSystem(PIVOT_GEARBOX, 0.001, PIVOT_GEAR_RATIO),
- PIVOT_GEARBOX);
- pivotSim.set
- }
-
- @Override
- public void updateInputs(PivotIOInputs inputs) {
- inputs.pivotMainConnected = true;
- inputs.pivotFollowerConnected = true;
-
- Voltage voltsToApply =
- Volts.of(
- pivotController.calculate(
- pivotSim.getAngularPositionRad(), pivotTargetPosition.in(Radians)))
- .plus(
- pivotFeedforward.calculate(
- pivotTargetPosition,
- RadiansPerSecond.of(pivotSim.getAngularVelocityRadPerSec())));
-
- pivotSim.setInputVoltage(MathUtil.clamp(voltsToApply.in(Volts), -12.0, 12.0));
-
- pivotSim.update(0.02);
-
- inputs.pivotMainPositionRad = pivotSim.getAngularPositionRad();
- inputs.pivotMainVelocityRadPerSec = pivotSim.getAngularVelocityRadPerSec();
- inputs.pivotMainAppliedVolts = voltsToApply.in(Volts);
- inputs.pivotMainCurrentAmps = Math.abs(pivotSim.getCurrentDrawAmps());
-
- inputs.pivotFollowerPositionRad = inputs.pivotMainPositionRad;
- inputs.pivotFollowerVelocityRadPerSec = inputs.pivotMainVelocityRadPerSec;
- inputs.pivotFollowerAppliedVolts = voltsToApply.in(Volts);
- inputs.pivotFollowerCurrentAmps = inputs.pivotMainCurrentAmps;
-
- inputs.pivotPositionSetpointRad = pivotTargetPosition.in(Radians);
- }
-
- @Override
- public void setPosition(Angle position) {
- pivotTargetPosition = position;
- }
-}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java
deleted file mode 100644
index f00dfb1..0000000
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ /dev/null
@@ -1,94 +0,0 @@
-package frc.robot.subsystems.shooter;
-
-import static edu.wpi.first.units.Units.RPM;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static frc.robot.Constants.ShooterConstants.*;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import org.littletonrobotics.junction.AutoLogOutput;
-import org.littletonrobotics.junction.Logger;
-
-public class Shooter extends SubsystemBase {
- public static enum ShooterState {
- IDLE,
- SPEAKER,
- AMP,
- SHUTTLE,
- EXTAKE
- }
-
- private final ShooterIO io;
- private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
-
- Alert topShooterDisconnected = new Alert("Disconnected Top Shooter Motor.", AlertType.kError);
- Alert bottomShooterDisconnected =
- new Alert("Disconnected Bottom Shooter Motor.", AlertType.kError);
-
- @AutoLogOutput private ShooterState state = ShooterState.IDLE;
-
- Trigger shooterAtSpeed =
- new Trigger(
- () -> {
- return MathUtil.isNear(
- inputs.topVelocitySetpointRadPerSec,
- inputs.topShooterVelocityRadPerSec,
- RPM.of(500.0).in(RadiansPerSecond))
- && MathUtil.isNear(
- inputs.bottomVelocitySetpointRadPerSec,
- inputs.bottomShooterVelocityRadPerSec,
- RPM.of(500.0).in(RadiansPerSecond));
- });
-
- public Shooter(ShooterIO io) {
- this.io = io;
- }
-
- @Override
- public void periodic() {
- setDefaultCommand(manageVelocity());
- io.updateInputs(inputs);
- Logger.processInputs("Shooter", inputs);
-
- topShooterDisconnected.set(!inputs.topConnected);
- bottomShooterDisconnected.set(!inputs.bottomConnected);
- }
-
- public Command setVelocityState(ShooterState state) {
- return runOnce(() -> this.state = state);
- }
-
- public ShooterState getState() {
- return state;
- }
-
- private Command manageVelocity() {
- return run(
- () -> {
- switch (state) {
- case IDLE:
- io.setVelocity(RPM.of(0.0), RPM.of(0.0));
- break;
- case SPEAKER:
- io.setVelocity(SPK_TOP_RPM, SPK_BOTTOM_RPM);
- break;
- case AMP:
- io.setVelocity(AMP_TOP_RPM, AMP_BOTTOM_RPM);
- break;
- case SHUTTLE:
- io.setVelocity(SHUTTLING_TOP_RPM, SHUTTLING_BOTTOM_RPM);
- break;
- case EXTAKE:
- io.setVelocity(SHOOTER_OUTTAKE_RPM, SHOOTER_OUTTAKE_RPM);
- break;
- default:
- setVelocityState(ShooterState.IDLE);
- break;
- }
- });
- }
-}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
deleted file mode 100644
index 35dcbdb..0000000
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
+++ /dev/null
@@ -1,76 +0,0 @@
-package frc.robot.subsystems.shooter;
-
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.Voltage;
-import edu.wpi.first.wpilibj.simulation.DCMotorSim;
-
-public class ShooterIOSim implements ShooterIO {
- DCMotorSim topShooterSim, bottomShooterSim;
-
- private final DCMotor SHOOTER_GEARBOX = DCMotor.getNeoVortex(1);
-
- private AngularVelocity topTargetVelocity = RadiansPerSecond.of(0);
- private AngularVelocity bottomTargetVelocity = RadiansPerSecond.of(0);
-
- private PIDController topController = new PIDController(0.1, 0.0, 0.0);
- private PIDController bottomController = new PIDController(0.1, 0.0, 0.0);
- private SimpleMotorFeedforward topFeedforward = new SimpleMotorFeedforward(0.1, 0.2);
- private SimpleMotorFeedforward bottomFeedforward = new SimpleMotorFeedforward(0.1, 0.2);
-
- public ShooterIOSim() {
- topShooterSim =
- new DCMotorSim(
- LinearSystemId.createDCMotorSystem(SHOOTER_GEARBOX, 0.001, 1.0), SHOOTER_GEARBOX);
- bottomShooterSim =
- new DCMotorSim(
- LinearSystemId.createDCMotorSystem(SHOOTER_GEARBOX, 0.001, 1.0), SHOOTER_GEARBOX);
- }
-
- @Override
- public void updateInputs(ShooterIOInputs inputs) {
- Voltage voltsToApplyTop =
- Volts.of(
- topController.calculate(
- topShooterSim.getAngularVelocityRadPerSec(),
- topTargetVelocity.in(RadiansPerSecond))
- + topFeedforward.calculate(topTargetVelocity.in(RadiansPerSecond)));
- Voltage voltsToApplyBottom =
- Volts.of(
- bottomController.calculate(
- bottomShooterSim.getAngularVelocityRadPerSec(),
- bottomTargetVelocity.in(RadiansPerSecond))
- + bottomFeedforward.calculate(bottomTargetVelocity.in(RadiansPerSecond)));
-
- topShooterSim.setInputVoltage(MathUtil.clamp(voltsToApplyTop.in(Volts), -12.0, 12.0));
- bottomShooterSim.setInputVoltage(MathUtil.clamp(voltsToApplyBottom.in(Volts), -12.0, 12.0));
-
- topShooterSim.update(0.02);
- bottomShooterSim.update(0.02);
-
- inputs.topConnected = true;
- inputs.topShooterPositionRad = topShooterSim.getAngularPositionRad();
- inputs.topShooterVelocityRadPerSec = topShooterSim.getAngularVelocityRadPerSec();
- inputs.topShooterAppliedVolts = voltsToApplyTop.in(Volts);
- inputs.topShooterCurrentAmps = topShooterSim.getCurrentDrawAmps();
-
- inputs.bottomConnected = true;
- inputs.bottomShooterPositionRad = bottomShooterSim.getAngularPositionRad();
- inputs.bottomShooterVelocityRadPerSec = bottomShooterSim.getAngularVelocityRadPerSec();
- inputs.bottomShooterAppliedVolts = voltsToApplyBottom.in(Volts);
- inputs.bottomShooterCurrentAmps = bottomShooterSim.getCurrentDrawAmps();
- }
-
- @Override
- public void setVelocity(AngularVelocity topVelocity, AngularVelocity bottomVelocity) {
- topTargetVelocity = topVelocity;
- bottomTargetVelocity = bottomVelocity;
- }
-}
diff --git a/AdvKit2024/vendordeps/AdvantageKit.json b/AdvKit2024/vendordeps/AdvantageKit.json
deleted file mode 100644
index 69538ea..0000000
--- a/AdvKit2024/vendordeps/AdvantageKit.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
- "fileName": "AdvantageKit.json",
- "name": "AdvantageKit",
- "version": "4.0.0-beta-1",
- "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
- "frcYear": "2025",
- "mavenUrls": [],
- "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
- "javaDependencies": [
- {
- "groupId": "org.littletonrobotics.akit",
- "artifactId": "akit-java",
- "version": "4.0.0-beta-1"
- }
- ],
- "jniDependencies": [
- {
- "groupId": "org.littletonrobotics.akit",
- "artifactId": "akit-wpilibio",
- "version": "4.0.0-beta-1",
- "skipInvalidPlatforms": false,
- "isJar": false,
- "validPlatforms": [
- "linuxathena",
- "windowsx86-64",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "cppDependencies": []
-}
diff --git a/AdvKit2024/vendordeps/ChoreoLib2025Beta.json b/AdvKit2024/vendordeps/ChoreoLib2025Beta.json
deleted file mode 100644
index 914a859..0000000
--- a/AdvKit2024/vendordeps/ChoreoLib2025Beta.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
- "fileName": "ChoreoLib2025Beta.json",
- "name": "ChoreoLib",
- "version": "2025.0.0-beta-9",
- "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
- "frcYear": "2025",
- "mavenUrls": [
- "https://lib.choreo.autos/dep",
- "https://repo1.maven.org/maven2"
- ],
- "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025Beta.json",
- "javaDependencies": [
- {
- "groupId": "choreo",
- "artifactId": "ChoreoLib-java",
- "version": "2025.0.0-beta-9"
- },
- {
- "groupId": "com.google.code.gson",
- "artifactId": "gson",
- "version": "2.11.0"
- }
- ],
- "jniDependencies": [],
- "cppDependencies": [
- {
- "groupId": "choreo",
- "artifactId": "ChoreoLib-cpp",
- "version": "2025.0.0-beta-9",
- "libName": "ChoreoLib",
- "headerClassifier": "headers",
- "sharedLibrary": false,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "osxuniversal",
- "linuxathena",
- "linuxarm32",
- "linuxarm64"
- ]
- }
- ]
-}
diff --git a/AdvKit2024/vendordeps/PathplannerLib-beta.json b/AdvKit2024/vendordeps/PathplannerLib-beta.json
deleted file mode 100644
index 0185feb..0000000
--- a/AdvKit2024/vendordeps/PathplannerLib-beta.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "fileName": "PathplannerLib-beta.json",
- "name": "PathplannerLib",
- "version": "2025.0.0-beta-6.1",
- "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
- "frcYear": "2025",
- "mavenUrls": [
- "https://3015rangerrobotics.github.io/pathplannerlib/repo"
- ],
- "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json",
- "javaDependencies": [
- {
- "groupId": "com.pathplanner.lib",
- "artifactId": "PathplannerLib-java",
- "version": "2025.0.0-beta-6.1"
- }
- ],
- "jniDependencies": [],
- "cppDependencies": [
- {
- "groupId": "com.pathplanner.lib",
- "artifactId": "PathplannerLib-cpp",
- "version": "2025.0.0-beta-6.1",
- "libName": "PathplannerLib",
- "headerClassifier": "headers",
- "sharedLibrary": false,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "osxuniversal",
- "linuxx86-64",
- "linuxathena",
- "linuxarm32",
- "linuxarm64"
- ]
- }
- ]
-}
diff --git a/AdvKit2024/vendordeps/Phoenix6-25.0.0-beta-4.json b/AdvKit2024/vendordeps/Phoenix6-25.0.0-beta-4.json
deleted file mode 100644
index 5a588aa..0000000
--- a/AdvKit2024/vendordeps/Phoenix6-25.0.0-beta-4.json
+++ /dev/null
@@ -1,389 +0,0 @@
-{
- "fileName": "Phoenix6-25.0.0-beta-4.json",
- "name": "CTRE-Phoenix (v6)",
- "version": "25.0.0-beta-4",
- "frcYear": "2025",
- "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-frc2025-beta-latest.json",
- "conflictsWith": [
- {
- "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
- "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
- "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
- }
- ],
- "javaDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "wpiapi-java",
- "version": "25.0.0-beta-4"
- }
- ],
- "jniDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "api-cpp",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "tools",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "api-cpp-sim",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "tools-sim",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simTalonSRX",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simVictorSPX",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simPigeonIMU",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simCANCoder",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFX",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANcoder",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANrange",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProPigeon2",
- "version": "25.0.0-beta-4",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- }
- ],
- "cppDependencies": [
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "wpiapi-cpp",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_Phoenix6_WPI",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6",
- "artifactId": "tools",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_PhoenixTools",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "linuxathena"
- ],
- "simMode": "hwsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "wpiapi-cpp-sim",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_Phoenix6_WPISim",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "tools-sim",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_PhoenixTools_Sim",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simTalonSRX",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimTalonSRX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simVictorSPX",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimVictorSPX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simPigeonIMU",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimPigeonIMU",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simCANCoder",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimCANCoder",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProTalonFX",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimProTalonFX",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANcoder",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimProCANcoder",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProCANrange",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimProCANrange",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- },
- {
- "groupId": "com.ctre.phoenix6.sim",
- "artifactId": "simProPigeon2",
- "version": "25.0.0-beta-4",
- "libName": "CTRE_SimProPigeon2",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxx86-64",
- "linuxarm64",
- "osxuniversal"
- ],
- "simMode": "swsim"
- }
- ]
-}
diff --git a/AdvKit2024/vendordeps/REVLib-2025.0.0-beta-3.json b/AdvKit2024/vendordeps/REVLib-2025.0.0-beta-3.json
deleted file mode 100644
index ad91680..0000000
--- a/AdvKit2024/vendordeps/REVLib-2025.0.0-beta-3.json
+++ /dev/null
@@ -1,74 +0,0 @@
-{
- "fileName": "REVLib-2025.0.0-beta-3.json",
- "name": "REVLib",
- "version": "2025.0.0-beta-3",
- "frcYear": "2025",
- "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
- "mavenUrls": [
- "https://maven.revrobotics.com/"
- ],
- "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
- "javaDependencies": [
- {
- "groupId": "com.revrobotics.frc",
- "artifactId": "REVLib-java",
- "version": "2025.0.0-beta-3"
- }
- ],
- "jniDependencies": [
- {
- "groupId": "com.revrobotics.frc",
- "artifactId": "REVLib-driver",
- "version": "2025.0.0-beta-3",
- "skipInvalidPlatforms": true,
- "isJar": false,
- "validPlatforms": [
- "windowsx86-64",
- "windowsx86",
- "linuxarm64",
- "linuxx86-64",
- "linuxathena",
- "linuxarm32",
- "osxuniversal"
- ]
- }
- ],
- "cppDependencies": [
- {
- "groupId": "com.revrobotics.frc",
- "artifactId": "REVLib-cpp",
- "version": "2025.0.0-beta-3",
- "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": "2025.0.0-beta-3",
- "libName": "REVLibDriver",
- "headerClassifier": "headers",
- "sharedLibrary": false,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "windowsx86",
- "linuxarm64",
- "linuxx86-64",
- "linuxathena",
- "linuxarm32",
- "osxuniversal"
- ]
- }
- ]
-}
diff --git a/AdvKit2024/vendordeps/maple-sim.json b/AdvKit2024/vendordeps/maple-sim.json
deleted file mode 100644
index 4b4a9c5..0000000
--- a/AdvKit2024/vendordeps/maple-sim.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "fileName": "maple-sim.json",
- "name": "maplesim",
- "version": "0.2.7",
- "frcYear": "2025",
- "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
- "mavenUrls": [
- "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
- "https://repo1.maven.org/maven2"
- ],
- "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
- "javaDependencies": [
- {
- "groupId": "org.ironmaple",
- "artifactId": "maplesim-java",
- "version": "0.2.7"
- },
- {
- "groupId": "org.dyn4j",
- "artifactId": "dyn4j",
- "version": "5.0.2"
- }
- ],
- "jniDependencies": [],
- "cppDependencies": []
-}
diff --git a/AdvKit2024/vendordeps/photonlib.json b/AdvKit2024/vendordeps/photonlib.json
deleted file mode 100644
index 1163429..0000000
--- a/AdvKit2024/vendordeps/photonlib.json
+++ /dev/null
@@ -1,71 +0,0 @@
-{
- "fileName": "photonlib.json",
- "name": "photonlib",
- "version": "v2025.0.0-beta-8",
- "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
- "frcYear": "2025",
- "mavenUrls": [
- "https://maven.photonvision.org/repository/internal",
- "https://maven.photonvision.org/repository/snapshots"
- ],
- "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
- "jniDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-cpp",
- "version": "v2025.0.0-beta-8",
- "skipInvalidPlatforms": true,
- "isJar": false,
- "validPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "cppDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photonlib-cpp",
- "version": "v2025.0.0-beta-8",
- "libName": "photonlib",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- },
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-cpp",
- "version": "v2025.0.0-beta-8",
- "libName": "photontargeting",
- "headerClassifier": "headers",
- "sharedLibrary": true,
- "skipInvalidPlatforms": true,
- "binaryPlatforms": [
- "windowsx86-64",
- "linuxathena",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "javaDependencies": [
- {
- "groupId": "org.photonvision",
- "artifactId": "photonlib-java",
- "version": "v2025.0.0-beta-8"
- },
- {
- "groupId": "org.photonvision",
- "artifactId": "photontargeting-java",
- "version": "v2025.0.0-beta-8"
- }
- ]
-}
diff --git a/AdvKit2024/.gitignore b/FlexAdvKit2025/.gitignore
similarity index 97%
rename from AdvKit2024/.gitignore
rename to FlexAdvKit2025/.gitignore
index d012c1d..34cbaac 100644
--- a/AdvKit2024/.gitignore
+++ b/FlexAdvKit2025/.gitignore
@@ -170,7 +170,7 @@ out/
# Simulation GUI and other tools window save file
networktables.json
-simgui*.json
+simgui.json
*-window.json
# Simulation data log directory
@@ -183,5 +183,5 @@ ctre_sim/
/.cache
compile_commands.json
-# Version file
-src/main/java/frc/robot/BuildConstants.java
\ No newline at end of file
+# Eclipse generated file for annotation processors
+.factorypath
diff --git a/AdvKit2024/.vscode/launch.json b/FlexAdvKit2025/.vscode/launch.json
similarity index 51%
rename from AdvKit2024/.vscode/launch.json
rename to FlexAdvKit2025/.vscode/launch.json
index b8c1920..c9c9713 100644
--- a/AdvKit2024/.vscode/launch.json
+++ b/FlexAdvKit2025/.vscode/launch.json
@@ -1,17 +1,21 @@
{
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
+
{
"type": "wpilib",
"name": "WPILib Desktop Debug",
"request": "launch",
- "desktop": true
+ "desktop": true,
},
{
"type": "wpilib",
"name": "WPILib roboRIO Debug",
"request": "launch",
- "desktop": false
+ "desktop": false,
}
]
}
diff --git a/FlexAdvKit2025/.vscode/settings.json b/FlexAdvKit2025/.vscode/settings.json
new file mode 100644
index 0000000..612cdd0
--- /dev/null
+++ b/FlexAdvKit2025/.vscode/settings.json
@@ -0,0 +1,60 @@
+{
+ "java.configuration.updateBuildConfiguration": "automatic",
+ "java.server.launchMode": "Standard",
+ "files.exclude": {
+ "**/.git": true,
+ "**/.svn": true,
+ "**/.hg": true,
+ "**/CVS": true,
+ "**/.DS_Store": true,
+ "bin/": true,
+ "**/.classpath": true,
+ "**/.project": true,
+ "**/.settings": true,
+ "**/.factorypath": true,
+ "**/*~": true
+ },
+ "java.test.config": [
+ {
+ "name": "WPIlibUnitTests",
+ "workingDirectory": "${workspaceFolder}/build/jni/release",
+ "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+ "env": {
+ "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+ "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+ }
+ },
+ ],
+ "java.test.defaultConfig": "WPIlibUnitTests",
+ "java.import.gradle.annotationProcessing.enabled": false,
+ "java.completion.favoriteStaticMembers": [
+ "org.junit.Assert.*",
+ "org.junit.Assume.*",
+ "org.junit.jupiter.api.Assertions.*",
+ "org.junit.jupiter.api.Assumptions.*",
+ "org.junit.jupiter.api.DynamicContainer.*",
+ "org.junit.jupiter.api.DynamicTest.*",
+ "org.mockito.Mockito.*",
+ "org.mockito.ArgumentMatchers.*",
+ "org.mockito.Answers.*",
+ "edu.wpi.first.units.Units.*"
+ ],
+ "java.completion.filteredTypes": [
+ "java.awt.*",
+ "com.sun.*",
+ "sun.*",
+ "jdk.*",
+ "org.graalvm.*",
+ "io.micrometer.shaded.*",
+ "java.beans.*",
+ "java.util.Base64.*",
+ "java.util.Timer",
+ "java.sql.*",
+ "javax.swing.*",
+ "javax.management.*",
+ "javax.smartcardio.*",
+ "edu.wpi.first.math.proto.*",
+ "edu.wpi.first.math.**.proto.*",
+ "edu.wpi.first.math.**.struct.*",
+ ]
+}
diff --git a/FlexAdvKit2025/.wpilib/wpilib_preferences.json b/FlexAdvKit2025/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..92637e1
--- /dev/null
+++ b/FlexAdvKit2025/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+ "enableCppIntellisense": false,
+ "currentLanguage": "java",
+ "projectYear": "2025",
+ "teamNumber": 6672
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/2025-reefscape.json b/FlexAdvKit2025/2025-reefscape.json
new file mode 100644
index 0000000..eb395c0
--- /dev/null
+++ b/FlexAdvKit2025/2025-reefscape.json
@@ -0,0 +1,404 @@
+{
+ "tags": [
+ {
+ "ID": 1,
+ "pose": {
+ "translation": {
+ "x": 16.697198,
+ "y": 0.65532,
+ "z": 1.4859
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.4539904997395468,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.8910065241883678
+ }
+ }
+ }
+ },
+ {
+ "ID": 2,
+ "pose": {
+ "translation": {
+ "x": 16.697198,
+ "y": 7.3964799999999995,
+ "z": 1.4859
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.45399049973954675,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.8910065241883679
+ }
+ }
+ }
+ },
+ {
+ "ID": 3,
+ "pose": {
+ "translation": {
+ "x": 11.560809999999998,
+ "y": 8.05561,
+ "z": 1.30175
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.7071067811865475,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.7071067811865476
+ }
+ }
+ }
+ },
+ {
+ "ID": 4,
+ "pose": {
+ "translation": {
+ "x": 9.276079999999999,
+ "y": 6.137656,
+ "z": 1.8679160000000001
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.9659258262890683,
+ "X": 0.0,
+ "Y": 0.25881904510252074,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 5,
+ "pose": {
+ "translation": {
+ "x": 9.276079999999999,
+ "y": 1.914906,
+ "z": 1.8679160000000001
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.9659258262890683,
+ "X": 0.0,
+ "Y": 0.25881904510252074,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 6,
+ "pose": {
+ "translation": {
+ "x": 13.474446,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.8660254037844387,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 7,
+ "pose": {
+ "translation": {
+ "x": 13.890498,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 1.0,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 8,
+ "pose": {
+ "translation": {
+ "x": 13.474446,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.8660254037844387,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 9,
+ "pose": {
+ "translation": {
+ "x": 12.643358,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.5000000000000001,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844386
+ }
+ }
+ }
+ },
+ {
+ "ID": 10,
+ "pose": {
+ "translation": {
+ "x": 12.227305999999999,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 6.123233995736766e-17,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 1.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 11,
+ "pose": {
+ "translation": {
+ "x": 12.643358,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.4999999999999998,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844387
+ }
+ }
+ }
+ },
+ {
+ "ID": 12,
+ "pose": {
+ "translation": {
+ "x": 0.851154,
+ "y": 0.65532,
+ "z": 1.4859
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.8910065241883679,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.45399049973954675
+ }
+ }
+ }
+ },
+ {
+ "ID": 13,
+ "pose": {
+ "translation": {
+ "x": 0.851154,
+ "y": 7.3964799999999995,
+ "z": 1.4859
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.8910065241883678,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.45399049973954686
+ }
+ }
+ }
+ },
+ {
+ "ID": 14,
+ "pose": {
+ "translation": {
+ "x": 8.272272,
+ "y": 6.137656,
+ "z": 1.8679160000000001
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 5.914589856893349e-17,
+ "X": -0.25881904510252074,
+ "Y": 1.5848095757158825e-17,
+ "Z": 0.9659258262890683
+ }
+ }
+ }
+ },
+ {
+ "ID": 15,
+ "pose": {
+ "translation": {
+ "x": 8.272272,
+ "y": 1.914906,
+ "z": 1.8679160000000001
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 5.914589856893349e-17,
+ "X": -0.25881904510252074,
+ "Y": 1.5848095757158825e-17,
+ "Z": 0.9659258262890683
+ }
+ }
+ }
+ },
+ {
+ "ID": 16,
+ "pose": {
+ "translation": {
+ "x": 5.9875419999999995,
+ "y": -0.0038099999999999996,
+ "z": 1.30175
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.7071067811865476,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.7071067811865476
+ }
+ }
+ }
+ },
+ {
+ "ID": 17,
+ "pose": {
+ "translation": {
+ "x": 4.073905999999999,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.4999999999999998,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844387
+ }
+ }
+ }
+ },
+ {
+ "ID": 18,
+ "pose": {
+ "translation": {
+ "x": 3.6576,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 6.123233995736766e-17,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 1.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 19,
+ "pose": {
+ "translation": {
+ "x": 4.073905999999999,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.5000000000000001,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.8660254037844386
+ }
+ }
+ }
+ },
+ {
+ "ID": 20,
+ "pose": {
+ "translation": {
+ "x": 4.904739999999999,
+ "y": 4.745482,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 0.8660254037844387,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ },
+ {
+ "ID": 21,
+ "pose": {
+ "translation": {
+ "x": 5.321046,
+ "y": 4.0259,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": 1.0,
+ "X": 0.0,
+ "Y": 0.0,
+ "Z": 0.0
+ }
+ }
+ }
+ },
+ {
+ "ID": 22,
+ "pose": {
+ "translation": {
+ "x": 4.904739999999999,
+ "y": 3.3063179999999996,
+ "z": 0.308102
+ },
+ "rotation": {
+ "quaternion": {
+ "W": -0.8660254037844387,
+ "X": -0.0,
+ "Y": 0.0,
+ "Z": 0.49999999999999994
+ }
+ }
+ }
+ }
+ ],
+ "field": {
+ "length": 17.548,
+ "width": 8.052
+ }
+}
diff --git a/AdvKit2024/WPILib-License.md b/FlexAdvKit2025/WPILib-License.md
similarity index 100%
rename from AdvKit2024/WPILib-License.md
rename to FlexAdvKit2025/WPILib-License.md
diff --git a/AdvKit2024/build.gradle b/FlexAdvKit2025/build.gradle
similarity index 96%
rename from AdvKit2024/build.gradle
rename to FlexAdvKit2025/build.gradle
index b3a9b71..6a95548 100644
--- a/AdvKit2024/build.gradle
+++ b/FlexAdvKit2025/build.gradle
@@ -1,6 +1,6 @@
plugins {
id "java"
- id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
+ id "edu.wpi.first.GradleRIO" version "2025.1.1"
id "com.peterabeles.gversion" version "1.10"
id "com.diffplug.spotless" version "6.12.0"
}
@@ -212,13 +212,13 @@ spotless {
trimTrailingWhitespace()
endWithNewline()
}
- json {
- target fileTree(".") {
- include "**/*.json"
- exclude "**/build/**", "**/build-*/**"
- }
- gson().indentWithSpaces(2)
- }
+ // json {
+ // target fileTree(".") {
+ // include "**/*.json"
+ // exclude "**/build/**", "**/build-*/**"
+ // }
+ // gson().indentWithSpaces(2)
+ // }
format "misc", {
target fileTree(".") {
include "**/*.md", "**/.gitignore"
diff --git a/AdvKit2024/gradle/wrapper/gradle-wrapper.jar b/FlexAdvKit2025/gradle/wrapper/gradle-wrapper.jar
similarity index 100%
rename from AdvKit2024/gradle/wrapper/gradle-wrapper.jar
rename to FlexAdvKit2025/gradle/wrapper/gradle-wrapper.jar
diff --git a/AdvKit2024/gradle/wrapper/gradle-wrapper.properties b/FlexAdvKit2025/gradle/wrapper/gradle-wrapper.properties
similarity index 100%
rename from AdvKit2024/gradle/wrapper/gradle-wrapper.properties
rename to FlexAdvKit2025/gradle/wrapper/gradle-wrapper.properties
diff --git a/AdvKit2024/gradlew b/FlexAdvKit2025/gradlew
similarity index 96%
rename from AdvKit2024/gradlew
rename to FlexAdvKit2025/gradlew
index 1aa94a4..f5feea6 100644
--- a/AdvKit2024/gradlew
+++ b/FlexAdvKit2025/gradlew
@@ -15,6 +15,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
+# SPDX-License-Identifier: Apache-2.0
+#
##############################################################################
#
@@ -55,7 +57,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
-# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
diff --git a/AdvKit2024/gradlew.bat b/FlexAdvKit2025/gradlew.bat
similarity index 91%
rename from AdvKit2024/gradlew.bat
rename to FlexAdvKit2025/gradlew.bat
index 93e3f59..9d21a21 100644
--- a/AdvKit2024/gradlew.bat
+++ b/FlexAdvKit2025/gradlew.bat
@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
goto fail
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
goto fail
diff --git a/AdvKit2024/settings.gradle b/FlexAdvKit2025/settings.gradle
similarity index 96%
rename from AdvKit2024/settings.gradle
rename to FlexAdvKit2025/settings.gradle
index d94f73c..969c7b0 100644
--- a/AdvKit2024/settings.gradle
+++ b/FlexAdvKit2025/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
- String frcYear = '2024'
+ String frcYear = '2025'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
diff --git a/FlexAdvKit2025/simgui-ds.json b/FlexAdvKit2025/simgui-ds.json
new file mode 100644
index 0000000..c4b7efd
--- /dev/null
+++ b/FlexAdvKit2025/simgui-ds.json
@@ -0,0 +1,98 @@
+{
+ "keyboardJoysticks": [
+ {
+ "axisConfig": [
+ {
+ "decKey": 65,
+ "incKey": 68
+ },
+ {
+ "decKey": 87,
+ "incKey": 83
+ },
+ {
+ "decKey": 69,
+ "decayRate": 0.0,
+ "incKey": 82,
+ "keyRate": 0.009999999776482582
+ }
+ ],
+ "axisCount": 3,
+ "buttonCount": 4,
+ "buttonKeys": [
+ 90,
+ 88,
+ 67,
+ 86
+ ],
+ "povConfig": [
+ {
+ "key0": 328,
+ "key135": 323,
+ "key180": 322,
+ "key225": 321,
+ "key270": 324,
+ "key315": 327,
+ "key45": 329,
+ "key90": 326
+ }
+ ],
+ "povCount": 1
+ },
+ {
+ "axisConfig": [
+ {
+ "decKey": 74,
+ "incKey": 76
+ },
+ {
+ "decKey": 73,
+ "incKey": 75
+ }
+ ],
+ "axisCount": 2,
+ "buttonCount": 4,
+ "buttonKeys": [
+ 77,
+ 44,
+ 46,
+ 47
+ ],
+ "povCount": 0
+ },
+ {
+ "axisConfig": [
+ {
+ "decKey": 263,
+ "incKey": 262
+ },
+ {
+ "decKey": 265,
+ "incKey": 264
+ }
+ ],
+ "axisCount": 2,
+ "buttonCount": 6,
+ "buttonKeys": [
+ 260,
+ 268,
+ 266,
+ 261,
+ 269,
+ 267
+ ],
+ "povCount": 0
+ },
+ {
+ "axisCount": 0,
+ "buttonCount": 0,
+ "povCount": 0
+ }
+ ],
+ "robotJoysticks": [
+ {
+ "guid": "78696e70757401000000000000000000",
+ "useGamepad": true
+ }
+ ]
+}
diff --git a/FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj b/FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj
new file mode 100644
index 0000000..f12ba9c
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj
@@ -0,0 +1,187 @@
+{
+ "name":"3Piece",
+ "version":1,
+ "snapshot":{
+ "waypoints":[
+ {"x":0.8337379097938538, "y":6.706357002258301, "heading":1.0427220051285575, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":2.4693517684936523, "y":6.843776702880859, "heading":0.4434486948213219, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":1.932753324508667, "y":6.007640361785889, "heading":0.26299462521425965, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":2.508333444595337, "y":5.547636032104492, "heading":0.0, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":1.8164089918136597, "y":5.001893043518066, "heading":-0.30451114220791814, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":2.508333444595337, "y":4.2125139236450195, "heading":-0.528074321666339, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+ "constraints":[
+ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.54, "h":8.21}}, "enabled":true}],
+ "targetDt":0.05
+ },
+ "params":{
+ "waypoints":[
+ {"x":{"exp":"0.8337379097938538 m", "val":0.8337379097938538}, "y":{"exp":"6.706357002258301 m", "val":6.706357002258301}, "heading":{"exp":"1.0427220051285575 rad", "val":1.0427220051285575}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"2.4693517684936523 m", "val":2.4693517684936523}, "y":{"exp":"6.843776702880859 m", "val":6.843776702880859}, "heading":{"exp":"0.4434486948213219 rad", "val":0.4434486948213219}, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"1.932753324508667 m", "val":1.932753324508667}, "y":{"exp":"6.007640361785889 m", "val":6.007640361785889}, "heading":{"exp":"0.26299462521425965 rad", "val":0.26299462521425965}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"2.508333444595337 m", "val":2.508333444595337}, "y":{"exp":"5.547636032104492 m", "val":5.547636032104492}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"1.8164089918136597 m", "val":1.8164089918136597}, "y":{"exp":"5.001893043518066 m", "val":5.001893043518066}, "heading":{"exp":"-0.30451114220791814 rad", "val":-0.30451114220791814}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"2.508333444595337 m", "val":2.508333444595337}, "y":{"exp":"4.2125139236450195 m", "val":4.2125139236450195}, "heading":{"exp":"-0.528074321666339 rad", "val":-0.528074321666339}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+ "constraints":[
+ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true}],
+ "targetDt":{
+ "exp":"0.05 s",
+ "val":0.05
+ }
+ },
+ "trajectory":{
+ "sampleType":"Swerve",
+ "waypoints":[0.0,1.3553,2.24424,3.01227,3.8542,4.83831],
+ "samples":[
+ {"t":0.0, "x":0.83374, "y":6.70636, "heading":1.04272, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.41677, "ay":0.89677, "alpha":-0.7486, "fx":[44.58313,43.99142,44.5792,45.07545], "fy":[11.70279,13.75354,11.69888,9.62334]},
+ {"t":0.03663, "x":0.83603, "y":6.70696, "heading":1.04272, "vx":0.12516, "vy":0.03285, "omega":-0.02742, "ax":3.41763, "ay":0.89247, "alpha":-0.75313, "fx":[44.59415,44.00164,44.59127,45.08703], "fy":[11.64927,13.71057,11.6401,9.55431]},
+ {"t":0.07326, "x":0.84291, "y":6.70876, "heading":1.04172, "vx":0.25034, "vy":0.06554, "omega":-0.05501, "ax":3.4186, "ay":0.88761, "alpha":-0.75811, "fx":[44.60708,44.01333,44.60428,45.09995], "fy":[11.58673,13.66147,11.57576,9.47651]},
+ {"t":0.10989, "x":0.85437, "y":6.71176, "heading":1.0397, "vx":0.37557, "vy":0.09805, "omega":-0.08278, "ax":3.41969, "ay":0.88207, "alpha":-0.76364, "fx":[44.62216,44.02674,44.61852,45.11447], "fy":[11.51374,13.60507,11.50436,9.38817]},
+ {"t":0.14652, "x":0.87042, "y":6.71594, "heading":1.03667, "vx":0.50083, "vy":0.13036, "omega":-0.11075, "ax":3.42094, "ay":0.8757, "alpha":-0.76986, "fx":[44.63974,44.04221,44.63433,45.13088], "fy":[11.42843,13.53985,11.42399,9.28701]},
+ {"t":0.18315, "x":0.89106, "y":6.7213, "heading":1.03261, "vx":0.62614, "vy":0.16244, "omega":-0.13895, "ax":3.42238, "ay":0.86832, "alpha":-0.77693, "fx":[44.66023,44.06018,44.65217,45.14957], "fy":[11.32837,13.46382,11.3321,9.17005]},
+ {"t":0.21978, "x":0.91629, "y":6.72784, "heading":1.02752, "vx":0.7515, "vy":0.19425, "omega":-0.16741, "ax":3.42405, "ay":0.85967, "alpha":-0.78509, "fx":[44.68417,44.08121,44.67263,45.17103], "fy":[11.21034,13.37434,11.22531,9.03332]},
+ {"t":0.25641, "x":0.94612, "y":6.73553, "heading":1.02139, "vx":0.87692, "vy":0.22574, "omega":-0.19617, "ax":3.426, "ay":0.84941, "alpha":-0.79465, "fx":[44.71228,44.10606,44.69649,45.19592], "fy":[11.06993,13.26779,11.09898,8.87141]},
+ {"t":0.29304, "x":0.98054, "y":6.74437, "heading":1.01421, "vx":1.00241, "vy":0.25685, "omega":-0.22527, "ax":3.42831, "ay":0.83706, "alpha":-0.80606, "fx":[44.74552,44.13576,44.72482,45.22508], "fy":[10.90102,13.13913,10.9466,8.67672]},
+ {"t":0.32967, "x":1.01956, "y":6.75434, "heading":1.00595, "vx":1.12799, "vy":0.28751, "omega":-0.2548, "ax":3.43108, "ay":0.8219, "alpha":-0.81993, "fx":[44.78522,44.17178,44.75909,45.25965], "fy":[10.69476,12.98106,10.7587,8.43827]},
+ {"t":0.3663, "x":1.06318, "y":6.76542, "heading":0.99662, "vx":1.25367, "vy":0.31762, "omega":-0.28483, "ax":3.43446, "ay":0.80289, "alpha":-0.83723, "fx":[44.83327,44.21622,44.80143,45.30118], "fy":[10.4379,12.78261,10.52105,8.13957]},
+ {"t":0.40293, "x":1.1114, "y":6.77759, "heading":0.98619, "vx":1.37948, "vy":0.34703, "omega":-0.3155, "ax":3.43866, "ay":0.77837, "alpha":-0.85943, "fx":[44.8924,44.27226,44.85491,45.35178], "fy":[10.1097,12.52658,10.21113,7.75472]},
+ {"t":0.43956, "x":1.16424, "y":6.79083, "heading":0.97463, "vx":1.50543, "vy":0.37554, "omega":-0.34698, "ax":3.444, "ay":0.74558, "alpha":-0.889, "fx":[44.96669,44.34484,44.92421,45.4143], "fy":[9.67576,12.18425,9.79116,7.24052]},
+ {"t":0.47619, "x":1.22169, "y":6.80508, "heading":0.96192, "vx":1.63159, "vy":0.40285, "omega":-0.37955, "ax":3.45097, "ay":0.69955, "alpha":-0.93035, "fx":[45.06239,44.44216,45.01655,45.49219], "fy":[9.07455,11.70392,9.19262,6.51937]},
+ {"t":0.51282, "x":1.28377, "y":6.82031, "heading":0.94802, "vx":1.758, "vy":0.42847, "omega":-0.41362, "ax":3.46026, "ay":0.63034, "alpha":-0.99219, "fx":[45.18889,44.57848,45.1429,45.58776], "fy":[8.18429,10.98215,8.27714,5.4368]},
+ {"t":0.54945, "x":1.35049, "y":6.83642, "heading":0.93287, "vx":1.88474, "vy":0.45156, "omega":-0.44997, "ax":3.47264, "ay":0.5149, "alpha":-1.09449, "fx":[45.35754,44.77962,45.31627,45.69019], "fy":[6.72615,9.77773,6.71834,3.63674]},
+ {"t":0.58608, "x":1.42186, "y":6.85331, "heading":0.91639, "vx":2.01195, "vy":0.47042, "omega":-0.49006, "ax":3.48577, "ay":0.28536, "alpha":-1.29449, "fx":[45.5509,45.08427,45.50689,45.6865], "fy":[3.89729,7.37195,3.52839,0.08782]},
+ {"t":0.62271, "x":1.49789, "y":6.87073, "heading":0.89843, "vx":2.13963, "vy":0.48088, "omega":-0.53748, "ax":3.4402, "ay":-0.36713, "alpha":-1.8386, "fx":[45.19472,45.24956,44.75278,44.25443], "fy":[-3.8023,0.33907,-6.04306,-9.64442]},
+ {"t":0.65934, "x":1.57857, "y":6.8881, "heading":0.87875, "vx":2.26564, "vy":0.46743, "omega":-0.60482, "ax":0.71457, "ay":-3.25159, "alpha":-3.15741, "fx":[17.35184,10.56284,0.75334,8.60595], "fy":[-40.37989,-42.01078,-43.84156,-43.38074]},
+ {"t":0.69597, "x":1.66204, "y":6.90304, "heading":0.85659, "vx":2.29182, "vy":0.34832, "omega":-0.72048, "ax":-2.76784, "ay":-2.09783, "alpha":-0.55091, "fx":[-35.55597,-36.87346,-36.61305,-35.3366], "fy":[-28.03647,-26.29491,-26.72181,-28.37599]},
+ {"t":0.7326, "x":1.74414, "y":6.91439, "heading":0.8302, "vx":2.19043, "vy":0.27148, "omega":-0.74066, "ax":-3.11913, "ay":-1.59645, "alpha":0.03068, "fx":[-40.69303,-40.6403,-40.65883,-40.71158], "fy":[-20.78732,-20.88931,-20.85075,-20.7485]},
+ {"t":0.76923, "x":1.82228, "y":6.92327, "heading":0.80307, "vx":2.07618, "vy":0.213, "omega":-0.73954, "ax":-3.22332, "ay":-1.40156, "alpha":0.24065, "fx":[-42.1428,-41.7846,-41.92687,-42.2843], "fy":[-18.04365,-18.85256,-18.51925,-17.69444]},
+ {"t":0.80586, "x":1.89617, "y":6.93013, "heading":0.77598, "vx":1.95811, "vy":0.16166, "omega":-0.73072, "ax":-3.27169, "ay":-1.29957, "alpha":0.34789, "fx":[-42.80842,-42.32882,-42.52397,-43.0006], "fy":[-16.61011,-17.79016,-17.30116,-16.08806]},
+ {"t":0.84249, "x":1.9657, "y":6.93518, "heading":0.74922, "vx":1.83827, "vy":0.11406, "omega":-0.71798, "ax":-3.29936, "ay":-1.23708, "alpha":0.41292, "fx":[-43.19018,-42.64652,-42.86452,-43.40355], "fy":[-15.72261,-17.13608,-16.56588,-15.10535]},
+ {"t":0.87912, "x":2.03082, "y":6.93853, "heading":0.72292, "vx":1.71741, "vy":0.06875, "omega":-0.70285, "ax":-3.31719, "ay":-1.19494, "alpha":0.45657, "fx":[-43.43885,-42.85533,-43.08129,-43.65948], "fy":[-15.11352,-16.69063,-16.08176,-14.44609]},
+ {"t":0.91575, "x":2.0915, "y":6.94024, "heading":0.69717, "vx":1.5959, "vy":0.02498, "omega":-0.68613, "ax":-3.32961, "ay":-1.16465, "alpha":0.48793, "fx":[-43.61472,-43.00365,-43.22933,-43.83523], "fy":[-14.66564,-16.36579,-15.74429,-13.97583]},
+ {"t":0.95238, "x":2.14773, "y":6.94038, "heading":0.67204, "vx":1.47394, "vy":-0.01769, "omega":-0.66826, "ax":-3.33875, "ay":-1.14183, "alpha":0.51155, "fx":[-43.74645,-43.11499,-43.33547,-43.9626], "fy":[-14.31964,-16.11682,-15.49945,-13.62555]},
+ {"t":0.98901, "x":2.19948, "y":6.93896, "heading":0.64756, "vx":1.35164, "vy":-0.05951, "omega":-0.64952, "ax":-3.34574, "ay":-1.12405, "alpha":0.52998, "fx":[-43.84936,-43.20209,-43.41429,-44.05859], "fy":[-14.04234,-15.91863,-15.3166,-13.35621]},
+ {"t":1.02564, "x":2.24674, "y":6.93603, "heading":0.62377, "vx":1.22909, "vy":-0.10068, "omega":-0.6301, "ax":-3.35126, "ay":-1.1098, "alpha":0.54477, "fx":[-43.93238,-43.27246,-43.47439,-44.13308], "fy":[-13.81374,-15.75609,-15.17702,-13.14405]},
+ {"t":1.06227, "x":2.28952, "y":6.9316, "heading":0.60069, "vx":1.10633, "vy":-0.14134, "omega":-0.61015, "ax":-3.35573, "ay":-1.09815, "alpha":0.55689, "fx":[-44.00105,-43.33078,-43.52118,-44.19222], "fy":[-13.62106,-15.61955,-15.06866,-12.97376]},
+ {"t":1.0989, "x":2.32779, "y":6.92568, "heading":0.57834, "vx":0.98341, "vy":-0.18156, "omega":-0.58975, "ax":-3.35941, "ay":-1.08845, "alpha":0.56701, "fx":[-44.05899,-43.38014,-43.5582,-44.24004], "fy":[-13.45576,-15.50257,-14.98343,-12.83504]},
+ {"t":1.13552, "x":2.36156, "y":6.9183, "heading":0.55674, "vx":0.86036, "vy":-0.22143, "omega":-0.56898, "ax":-3.3625, "ay":-1.08025, "alpha":0.57558, "fx":[-44.10868,-43.42264,-43.58789,-44.27925], "fy":[-13.31191,-15.40072,-14.91568,-12.72068]},
+ {"t":1.17215, "x":2.39082, "y":6.90947, "heading":0.53589, "vx":0.73719, "vy":-0.261, "omega":-0.5479, "ax":-3.36512, "ay":-1.07323, "alpha":0.58293, "fx":[-44.15185,-43.45975,-43.61197,-44.31181], "fy":[-13.18525,-15.31085,-14.86134,-12.62548]},
+ {"t":1.20878, "x":2.41556, "y":6.89919, "heading":0.51582, "vx":0.61393, "vy":-0.30031, "omega":-0.52654, "ax":-3.36738, "ay":-1.06716, "alpha":0.5893, "fx":[-44.18976,-43.49254,-43.6317,-44.33911], "fy":[-13.07268,-15.23065,-14.81746,-12.54558]},
+ {"t":1.24541, "x":2.43579, "y":6.88747, "heading":0.49654, "vx":0.49058, "vy":-0.3394, "omega":-0.50496, "ax":-3.36934, "ay":-1.06186, "alpha":0.59487, "fx":[-44.22337,-43.52181,-43.648,-44.36219], "fy":[-12.97183,-15.15842,-14.78178,-12.47807]},
+ {"t":1.28204, "x":2.4515, "y":6.87432, "heading":0.47804, "vx":0.36716, "vy":-0.3783, "omega":-0.48317, "ax":-3.37106, "ay":-1.0572, "alpha":0.59978, "fx":[-44.25337,-43.54815,-43.66158,-44.38186], "fy":[-12.88089,-15.09286,-14.75261,-12.42068]},
+ {"t":1.31867, "x":2.46269, "y":6.85976, "heading":0.46034, "vx":0.24368, "vy":-0.41702, "omega":-0.4612, "ax":-3.37258, "ay":-1.05308, "alpha":0.60414, "fx":[-44.28033,-43.57202,-43.67298,-44.39872], "fy":[-12.79846,-15.03299,-14.72861,-12.37163]},
+ {"t":1.3553, "x":2.46935, "y":6.84378, "heading":0.44345, "vx":0.12014, "vy":-0.4556, "omega":-0.43907, "ax":-3.37085, "ay":-1.05739, "alpha":0.57292, "fx":[-44.25036,-43.57474,-43.65756,-44.35128], "fy":[-12.87938,-15.006,-14.75427,-12.51699]},
+ {"t":1.38823, "x":2.47148, "y":6.8282, "heading":0.42899, "vx":0.00916, "vy":-0.49041, "omega":-0.42021, "ax":-3.36599, "ay":-1.07148, "alpha":0.57933, "fx":[-44.20104,-43.50847,-43.57862,-44.29254], "fy":[-13.03161,-15.1834,-14.97113,-12.70586]},
+ {"t":1.42115, "x":2.46996, "y":6.81148, "heading":0.41516, "vx":-0.10166, "vy":-0.52569, "omega":-0.40113, "ax":-3.36021, "ay":-1.08804, "alpha":0.58684, "fx":[-44.14126,-43.42885,-43.4857,-44.22301], "fy":[-13.21414,-15.39382,-15.22191,-12.92567]},
+ {"t":1.45407, "x":2.46479, "y":6.79358, "heading":0.40195, "vx":-0.21229, "vy":-0.56151, "omega":-0.38181, "ax":-3.3532, "ay":-1.10775, "alpha":0.59576, "fx":[-44.06783,-43.33175,-43.37435,-44.13928], "fy":[-13.43531,-15.6465,-15.5165,-13.18528]},
+ {"t":1.487, "x":2.45598, "y":6.77449, "heading":0.38938, "vx":-0.32269, "vy":-0.59798, "omega":-0.3622, "ax":-3.34454, "ay":-1.1316, "alpha":0.60653, "fx":[-43.97606,-43.21117,-43.23802,-44.03633], "fy":[-13.70694,-15.9545,-15.86888,-13.49729]},
+ {"t":1.51992, "x":2.44355, "y":6.75419, "heading":0.37746, "vx":-0.4328, "vy":-0.63524, "omega":-0.34223, "ax":-3.33359, "ay":-1.16103, "alpha":0.6198, "fx":[-43.85889,-43.058,-43.0668,-43.90654], "fy":[-14.04633,-16.33685,-16.29952,-13.88023]},
+ {"t":1.55285, "x":2.42749, "y":6.73265, "heading":0.36619, "vx":-0.54256, "vy":-0.67346, "omega":-0.32182, "ax":-3.31931, "ay":-1.19825, "alpha":0.63655, "fx":[-43.70504,-42.85783,-42.84485,-43.73766], "fy":[-14.47987,-16.82241,-16.83954,-14.36245]},
+ {"t":1.58577, "x":2.40783, "y":6.70983, "heading":0.35559, "vx":-0.65184, "vy":-0.71291, "omega":-0.30087, "ax":-3.29996, "ay":-1.24677, "alpha":0.65835, "fx":[-43.49548,-42.58644,-42.54539,-43.50892], "fy":[-15.04978,-17.45713,-17.53875,-14.9896]},
+ {"t":1.61869, "x":2.38458, "y":6.68568, "heading":0.34569, "vx":-0.76049, "vy":-0.75396, "omega":-0.27919, "ax":-3.27237, "ay":-1.31259, "alpha":0.68789, "fx":[-43.19558,-42.19997,-42.1195,-43.18208], "fy":[-15.82811,-18.31872,-18.48179,-15.84001]},
+ {"t":1.65162, "x":2.35777, "y":6.66014, "heading":0.3365, "vx":-0.86822, "vy":-0.79718, "omega":-0.25654, "ax":-3.23012, "ay":-1.40677, "alpha":0.7301, "fx":[-42.73546,-41.61072,-41.46817,-42.67901], "fy":[-16.94814,-19.54932,-19.82442,-17.05977]},
+ {"t":1.68454, "x":2.32743, "y":6.63313, "heading":0.32805, "vx":-0.97457, "vy":-0.84349, "omega":-0.2325, "ax":-3.15827, "ay":-1.55208, "alpha":0.79512, "fx":[-41.95249,-40.61724,-40.3606,-41.81475], "fy":[-18.68533,-21.43729,-21.88483,-18.95382]},
+ {"t":1.71746, "x":2.29363, "y":6.60452, "heading":0.32039, "vx":-1.07855, "vy":-0.89459, "omega":-0.20633, "ax":-3.01369, "ay":-1.80271, "alpha":0.9069, "fx":[-40.37733,-38.65212,-38.13232,-40.04145], "fy":[-21.70422,-24.65464,-25.4091,-22.26725]},
+ {"t":1.75039, "x":2.25649, "y":6.57409, "heading":0.3136, "vx":-1.17777, "vy":-0.95394, "omega":-0.17647, "ax":-2.621, "ay":-2.31337, "alpha":1.13212, "fx":[-36.07826,-33.50559,-32.12236,-35.01308], "fy":[-27.98427,-31.04335,-32.41307,-29.23184]},
+ {"t":1.78331, "x":2.21629, "y":6.54143, "heading":0.30779, "vx":-1.26407, "vy":-1.03011, "omega":-0.13919, "ax":-0.8406, "ay":-3.35294, "alpha":1.57005, "fx":[-15.16177,-11.90489,-6.9008,-9.88111], "fy":[-42.54934,-43.6758,-44.68201,-43.99248]},
+ {"t":1.81624, "x":2.17422, "y":6.5057, "heading":0.30321, "vx":-1.29174, "vy":-1.1405, "omega":-0.0875, "ax":2.86309, "ay":-1.96619, "alpha":0.8216, "fx":[37.16125,36.03201,37.54158,38.6129], "fy":[-25.87117,-27.50311,-25.46302,-23.72508]},
+ {"t":1.84916, "x":2.13324, "y":6.46708, "heading":0.30033, "vx":-1.19748, "vy":-1.20523, "omega":-0.06045, "ax":3.45937, "ay":-0.56194, "alpha":0.15829, "fx":[45.13279,45.04243,45.09507,45.18123], "fy":[-7.18564,-7.74799,-7.46836,-6.91065]},
+ {"t":1.88208, "x":2.09569, "y":6.4271, "heading":0.29834, "vx":-1.08358, "vy":-1.22374, "omega":-0.05524, "ax":3.51616, "ay":-0.04532, "alpha":-0.07852, "fx":[45.85353,45.85648,45.85369,45.8501], "fy":[-0.69225,-0.39319,-0.48877,-0.78957]},
+ {"t":1.91501, "x":2.06192, "y":6.38678, "heading":0.29652, "vx":-0.96782, "vy":-1.22523, "omega":-0.05783, "ax":3.51623, "ay":0.20361, "alpha":-0.19132, "fx":[45.87342,45.82828,45.83647,45.87935], "fy":[2.37601,3.11613,2.94023,2.18857]},
+ {"t":1.94793, "x":2.03196, "y":6.34656, "heading":0.29461, "vx":-0.85205, "vy":-1.21852, "omega":-0.06412, "ax":3.5082, "ay":0.34795, "alpha":-0.25637, "fx":[45.79247,45.6908,45.70798,45.80741], "fy":[4.1396,5.13549,4.94636,3.92885]},
+ {"t":1.98085, "x":2.00581, "y":6.30663, "heading":0.2925, "vx":-0.73655, "vy":-1.20707, "omega":-0.07257, "ax":3.49979, "ay":0.44173, "alpha":-0.29851, "fx":[45.70413,45.55452,45.57651,45.72477], "fy":[5.27942,6.43996,6.25646,5.06596]},
+ {"t":2.01378, "x":1.98346, "y":6.26712, "heading":0.29011, "vx":-0.62132, "vy":-1.19252, "omega":-0.08239, "ax":3.49239, "ay":0.5074, "alpha":-0.32797, "fx":[45.62565,45.43726,45.46139,45.64964], "fy":[6.07472,7.34952,7.17748,5.86609]},
+ {"t":2.0467, "x":1.9649, "y":6.22814, "heading":0.2874, "vx":-0.50634, "vy":-1.17582, "omega":-0.09319, "ax":3.48612, "ay":0.55592, "alpha":-0.34971, "fx":[45.559,45.33923,45.3639,45.58481], "fy":[6.66019,8.01872,7.85993,6.45949]},
+ {"t":2.07962, "x":1.95011, "y":6.18973, "heading":0.28433, "vx":-0.39157, "vy":-1.15752, "omega":-0.10471, "ax":3.48084, "ay":0.59319, "alpha":-0.36641, "fx":[45.50287,45.25743,45.28163,45.52948], "fy":[7.1085,8.53099,8.3859,6.91721]},
+ {"t":2.11255, "x":1.93911, "y":6.15194, "heading":0.28089, "vx":-0.27696, "vy":-1.13799, "omega":-0.11677, "ax":3.47637, "ay":0.62271, "alpha":-0.37963, "fx":[45.45545,45.18874,45.21179,45.48214], "fy":[7.46227,8.93518,8.80385,7.28118]},
+ {"t":2.14547, "x":1.93187, "y":6.11481, "heading":0.27704, "vx":-0.16251, "vy":-1.11748, "omega":-0.12927, "ax":3.47255, "ay":0.64666, "alpha":-0.39036, "fx":[45.41513,45.13055,45.15199,45.44136], "fy":[7.74808,9.26178,9.14419,7.57778]},
+ {"t":2.1784, "x":1.92841, "y":6.07837, "heading":0.27279, "vx":-0.04818, "vy":-1.09619, "omega":-0.14212, "ax":3.46926, "ay":0.66648, "alpha":-0.39925, "fx":[45.3806,45.08083,45.10027,45.40595], "fy":[7.9834,9.53078,9.42696,7.82437]},
+ {"t":2.21132, "x":1.9287, "y":6.04264, "heading":0.26811, "vx":0.06604, "vy":-1.07425, "omega":-0.15526, "ax":3.46641, "ay":0.68314, "alpha":-0.40672, "fx":[45.35081,45.03799,45.05514,45.37492], "fy":[8.18014,9.75581,9.6659,8.03288]},
+ {"t":2.24424, "x":1.93275, "y":6.00764, "heading":0.26299, "vx":0.18017, "vy":-1.05176, "omega":-0.16866, "ax":3.46179, "ay":0.70471, "alpha":-0.38482, "fx":[45.28883,44.98347,44.9965,45.30903], "fy":[8.49165,9.98309,9.91386,8.37109]},
+ {"t":2.27496, "x":1.93992, "y":5.97566, "heading":0.25781, "vx":0.28652, "vy":-1.03011, "omega":-0.18048, "ax":3.45452, "ay":0.73714, "alpha":-0.39555, "fx":[45.20713,44.87917,44.88763,45.22449], "fy":[8.88503,10.41532,10.36768,8.78324]},
+ {"t":2.30568, "x":1.95035, "y":5.94436, "heading":0.25227, "vx":0.39264, "vy":-1.00746, "omega":-0.19263, "ax":3.44534, "ay":0.77616, "alpha":-0.40846, "fx":[45.10402,44.74794,44.75019,45.11739], "fy":[9.35866,10.93486,10.91367,9.27993]},
+ {"t":2.33641, "x":1.96404, "y":5.91378, "heading":0.24635, "vx":0.49849, "vy":-0.98362, "omega":-0.20518, "ax":3.43344, "ay":0.82402, "alpha":-0.42428, "fx":[44.9704,44.57853,44.57202,44.97799], "fy":[9.93962,11.57083,11.58283,9.88993]},
+ {"t":2.36713, "x":1.98098, "y":5.88395, "heading":0.24005, "vx":0.60396, "vy":-0.95831, "omega":-0.21821, "ax":3.41751, "ay":0.88403, "alpha":-0.44411, "fx":[44.79151,44.35274,44.33336,44.79035], "fy":[10.66856,12.36674,12.42164,10.65662]},
+ {"t":2.39785, "x":2.00114, "y":5.85493, "heading":0.23334, "vx":0.70895, "vy":-0.93115, "omega":-0.23185, "ax":3.39528, "ay":0.96142, "alpha":-0.46965, "fx":[44.54196,44.0395,44.0002,44.52684], "fy":[11.60919,13.3903,13.50285,11.64839]},
+ {"t":2.42857, "x":2.02453, "y":5.82678, "heading":0.22622, "vx":0.81326, "vy":-0.90161, "omega":-0.24628, "ax":3.36256, "ay":1.06484, "alpha":-0.5037, "fx":[44.17475,43.58178,43.50946,44.1357], "fy":[12.86701,14.75256,14.94638,12.97924]},
+ {"t":2.45929, "x":2.0511, "y":5.79958, "heading":0.21866, "vx":0.91656, "vy":-0.8689, "omega":-0.26176, "ax":3.31081, "ay":1.20951, "alpha":-0.55118, "fx":[43.59413,42.86498,42.7328,43.51011], "fy":[14.62885,16.64732,16.96288,14.85263]},
+ {"t":2.49001, "x":2.08082, "y":5.77346, "heading":0.21061, "vx":1.01827, "vy":-0.83174, "omega":-0.27869, "ax":3.22032, "ay":1.42453, "alpha":-0.62131, "fx":[42.57897,41.62941,41.3747,42.39874], "fy":[17.25443,19.43886,19.95066,17.66397]},
+ {"t":2.52073, "x":2.11362, "y":5.74858, "heading":0.20205, "vx":1.1172, "vy":-0.78798, "omega":-0.29778, "ax":3.03728, "ay":1.77037, "alpha":-0.73274, "fx":[40.5214,39.1845,38.63401,40.09424], "fy":[21.50697,23.8658,24.71728,22.25806]},
+ {"t":2.55145, "x":2.14937, "y":5.72521, "heading":0.1929, "vx":1.21051, "vy":-0.73359, "omega":-0.32029, "ax":2.57904, "ay":2.37376, "alpha":-0.92138, "fx":[35.30867,33.28379,31.86406,34.07422], "fy":[29.09743,31.41537,32.81912,30.49057]},
+ {"t":2.58217, "x":2.18778, "y":5.70379, "heading":0.18306, "vx":1.28974, "vy":-0.66067, "omega":-0.34859, "ax":1.15827, "ay":3.29004, "alpha":-1.18143, "fx":[18.16866,15.90238,12.12142,14.22632], "fy":[41.75608,42.72302,43.91792,43.22163]},
+ {"t":2.61289, "x":2.22795, "y":5.68505, "heading":0.17236, "vx":1.32532, "vy":-0.5596, "omega":-0.38489, "ax":-1.60059, "ay":3.09911, "alpha":-1.002, "fx":[-19.64282,-18.71498,-21.99955,-23.13445], "fy":[41.03711,41.52636,39.89977,39.196]},
+ {"t":2.64361, "x":2.26791, "y":5.66932, "heading":0.16053, "vx":1.27615, "vy":-0.46439, "omega":-0.41567, "ax":-2.95136, "ay":1.89245, "alpha":-0.52523, "fx":[-38.53201,-37.67495,-38.46649,-39.27855], "fy":[24.60745,25.92384,24.75879,23.42597]},
+ {"t":2.67434, "x":2.30572, "y":5.65594, "heading":0.14776, "vx":1.18548, "vy":-0.40625, "omega":-0.43181, "ax":-3.31637, "ay":1.16954, "alpha":-0.26157, "fx":[-43.32001,-43.00739,-43.18293,-43.48189], "fy":[15.04196,15.92269,15.45685,14.58554]},
+ {"t":2.70506, "x":2.34057, "y":5.64401, "heading":0.1345, "vx":1.0836, "vy":-0.37032, "omega":-0.43984, "ax":-3.43587, "ay":0.77514, "alpha":-0.12155, "fx":[-44.83728,-44.73602,-44.77683,-44.87559], "fy":[9.96712,10.41567,10.24813,9.80304]},
+ {"t":2.73578, "x":2.37224, "y":5.633, "heading":0.12098, "vx":0.97805, "vy":-0.34651, "omega":-0.44358, "ax":-3.48448, "ay":0.537, "alpha":-0.03817, "fx":[-45.44809,-45.42563,-45.43258,-45.45485], "fy":[6.95016,7.09649,7.05532,6.90939]},
+ {"t":2.7665, "x":2.40064, "y":5.62261, "heading":0.10736, "vx":0.871, "vy":-0.33001, "omega":-0.44475, "ax":-3.50734, "ay":0.37975, "alpha":0.01644, "fx":[-45.73581,-45.74272,-45.74102,-45.73409], "fy":[4.97729,4.91306,4.92705,4.99136]},
+ {"t":2.79722, "x":2.42575, "y":5.61265, "heading":0.09369, "vx":0.76325, "vy":-0.31834, "omega":-0.44424, "ax":-3.51915, "ay":0.26879, "alpha":0.05476, "fx":[-45.88595,-45.90228,-45.89902,-45.88243], "fy":[3.59477,3.37851,3.41517,3.6324]},
+ {"t":2.82794, "x":2.44753, "y":5.603, "heading":0.08005, "vx":0.65514, "vy":-0.31009, "omega":-0.44256, "ax":-3.52562, "ay":0.18653, "alpha":0.08306, "fx":[-45.96977,-45.98698,-45.98413,-45.96648], "fy":[2.57542,2.24534,2.28842,2.62082]},
+ {"t":2.85866, "x":2.466, "y":5.59356, "heading":0.06645, "vx":0.54683, "vy":-0.30436, "omega":-0.44001, "ax":-3.52929, "ay":0.12321, "alpha":0.10479, "fx":[-46.01867,-46.03298,-46.03093,-46.01609], "fy":[1.79436,1.37637,1.41715,1.83891]},
+ {"t":2.88938, "x":2.48113, "y":5.58427, "heading":0.05293, "vx":0.43841, "vy":-0.30057, "omega":-0.43679, "ax":-3.53139, "ay":0.073, "alpha":0.12198, "fx":[-46.04791,-46.05774,-46.05637,-46.04605], "fy":[1.1777,0.69003,0.72357,1.21641]},
+ {"t":2.9201, "x":2.49293, "y":5.57507, "heading":0.03951, "vx":0.32992, "vy":-0.29833, "omega":-0.43304, "ax":-3.53256, "ay":0.03223, "alpha":0.13592, "fx":[-46.06554,-46.0703,-46.06936,-46.06422], "fy":[0.67903,0.13499,0.15839,0.7089]},
+ {"t":2.95082, "x":2.5014, "y":5.56592, "heading":0.02621, "vx":0.2214, "vy":-0.29734, "omega":-0.42887, "ax":-3.53318, "ay":-0.00151, "alpha":0.14744, "fx":[-46.07603,-46.07565,-46.07488,-46.07506], "fy":[0.26784,-0.32261,-0.31111,0.28699]},
+ {"t":2.98154, "x":2.50653, "y":5.55679, "heading":0.01304, "vx":0.11286, "vy":-0.29739, "omega":-0.42434, "ax":-3.53345, "ay":-0.0299, "alpha":0.15712, "fx":[-46.08201,-46.07666,-46.0758,-46.08118], "fy":[-0.07676,-0.70596,-0.70741,-0.06951]},
+ {"t":3.01227, "x":2.50833, "y":5.54764, "heading":0.0, "vx":0.00431, "vy":-0.2983, "omega":-0.41951, "ax":-3.53326, "ay":-0.05401, "alpha":0.14761, "fx":[-46.08137,-46.0724,-46.07134,-46.08055], "fy":[-0.4042,-0.99546,-1.00838,-0.40945]},
+ {"t":3.04345, "x":2.50675, "y":5.53831, "heading":-0.01308, "vx":-0.10587, "vy":-0.29999, "omega":-0.41491, "ax":-3.53241, "ay":-0.07981, "alpha":0.14947, "fx":[-46.07267,-46.05933,-46.05774,-46.07155], "fy":[-0.73096,-1.3292,-1.35459,-0.7485]},
+ {"t":3.07463, "x":2.50173, "y":5.52891, "heading":-0.02602, "vx":-0.21602, "vy":-0.30248, "omega":-0.41025, "ax":-3.53117, "ay":-0.10998, "alpha":0.15165, "fx":[-46.05955,-46.04096,-46.03856,-46.05786], "fy":[-1.11376,-1.71984,-1.75873,-1.14462]},
+ {"t":3.10581, "x":2.49328, "y":5.51943, "heading":-0.03881, "vx":-0.32613, "vy":-0.30591, "omega":-0.40552, "ax":-3.52938, "ay":-0.14572, "alpha":0.15421, "fx":[-46.03986,-46.01488,-46.01127,-46.03726], "fy":[-1.56802,-2.18302,-2.23677,-1.61354]},
+ {"t":3.137, "x":2.48139, "y":5.50982, "heading":-0.05146, "vx":-0.43619, "vy":-0.31045, "omega":-0.40071, "ax":-3.52674, "ay":-0.18872, "alpha":0.15727, "fx":[-46.01019,-45.97731,-45.9719,-46.00614], "fy":[-2.11533,-2.74059,-2.81103,-2.17731]},
+ {"t":3.16818, "x":2.46608, "y":5.50005, "heading":-0.06395, "vx":-0.54616, "vy":-0.31633, "omega":-0.39581, "ax":-3.52278, "ay":-0.24141, "alpha":0.16099, "fx":[-45.96488,-45.92198,-45.9139,-45.95858], "fy":[-2.78686,-3.42407,-3.51374,-2.86783]},
+ {"t":3.19936, "x":2.44733, "y":5.49007, "heading":-0.07629, "vx":-0.65601, "vy":-0.32386, "omega":-0.39079, "ax":-3.51671, "ay":-0.30741, "alpha":0.16561, "fx":[-45.89412,-45.83821,-45.82605,-45.88429], "fy":[-3.62928,-4.28056,-4.39307,-3.73281]},
+ {"t":3.23054, "x":2.42517, "y":5.47982, "heading":-0.08848, "vx":-0.76567, "vy":-0.33345, "omega":-0.38562, "ax":-3.50705, "ay":-0.39242, "alpha":0.17147, "fx":[-45.77989,-45.70651,-45.68793,-45.76436], "fy":[-4.71545,-5.38346,-5.52413,-4.84689]},
+ {"t":3.26173, "x":2.39959, "y":5.46923, "heading":-0.1005, "vx":-0.87503, "vy":-0.34569, "omega":-0.38027, "ax":-3.49091, "ay":-0.50576, "alpha":0.17915, "fx":[-45.58671,-45.48892,-45.45973,-45.56154], "fy":[-6.16537,-6.8532,-7.03027,-6.33298]},
+ {"t":3.29291, "x":2.3706, "y":5.4582, "heading":-0.11236, "vx":-0.98388, "vy":-0.36146, "omega":-0.37469, "ax":-3.46211, "ay":-0.66377, "alpha":0.18959, "fx":[-45.23808,-45.10449,-45.0564,-45.19544], "fy":[-8.1897,-8.90031,-9.12717,-8.40703]},
+ {"t":3.32409, "x":2.33824, "y":5.44661, "heading":-0.12405, "vx":-1.09184, "vy":-0.38215, "omega":-0.36878, "ax":-3.40569, "ay":-0.89737, "alpha":0.20446, "fx":[-44.54819,-44.35898,-44.27379,-44.47053], "fy":[-11.18824,-11.92162,-12.22114,-11.47882]},
+ {"t":3.35527, "x":2.30254, "y":5.43426, "heading":-0.13555, "vx":-1.19804, "vy":-0.41014, "omega":-0.3624, "ax":-3.27947, "ay":-1.27005, "alpha":0.22671, "fx":[-42.98858,-42.70867,-42.53994,-42.83029], "fy":[-15.98783,-16.7283,-17.14014,-16.39347]},
+ {"t":3.38646, "x":2.26359, "y":5.42085, "heading":-0.14685, "vx":-1.3003, "vy":-0.44974, "omega":-0.35533, "ax":-2.93902, "ay":-1.91537, "alpha":0.26032, "fx":[-38.72625,-38.3106,-37.92231,-38.34914], "fy":[-24.36094,-25.02002,-25.59309,-24.93788]},
+ {"t":3.41764, "x":2.22161, "y":5.40589, "heading":-0.15793, "vx":-1.39195, "vy":-0.50947, "omega":-0.34721, "ax":-1.84225, "ay":-2.96928, "alpha":0.29319, "fx":[-24.67559,-24.29221,-23.37918,-23.75036], "fy":[-38.3099,-38.56975,-39.1236,-38.88345]},
+ {"t":3.44882, "x":2.17731, "y":5.38856, "heading":-0.16875, "vx":-1.44939, "vy":-0.60206, "omega":-0.33807, "ax":0.6311, "ay":-3.43313, "alpha":0.2252, "fx":[7.96271,7.66788,8.49129,8.79824], "fy":[-44.81325,-44.87632,-44.73195,-44.66109]},
+ {"t":3.48, "x":2.13242, "y":5.36812, "heading":-0.1793, "vx":-1.42971, "vy":-0.70911, "omega":-0.33105, "ax":2.33984, "ay":-2.60872, "alpha":0.09384, "fx":[30.53669,30.31677,30.49082,30.70922], "fy":[-33.99584,-34.19511,-34.04382,-33.84397]},
+ {"t":3.51119, "x":2.08898, "y":5.34474, "heading":-0.18962, "vx":-1.35675, "vy":-0.79046, "omega":-0.32812, "ax":2.94405, "ay":-1.91982, "alpha":0.01871, "fx":[38.40372,38.3659,38.38185,38.41958], "fy":[-25.01853,-25.07684,-25.05327,-24.99501]},
+ {"t":3.54237, "x":2.0481, "y":5.31916, "heading":-0.19985, "vx":-1.26495, "vy":-0.85032, "omega":-0.32754, "ax":3.18016, "ay":-1.51061, "alpha":-0.02065, "fx":[41.45907,41.49349,41.48458,41.45008], "fy":[-19.72695,-19.65422,-19.67207,-19.74491]},
+ {"t":3.57355, "x":2.0102, "y":5.29191, "heading":-0.21006, "vx":-1.16578, "vy":-0.89743, "omega":-0.32818, "ax":3.29294, "ay":-1.25614, "alpha":-0.04365, "fx":[42.91686,42.97843,42.96833,42.90644], "fy":[-16.44946,-16.28762,-16.31232,-16.47472]},
+ {"t":3.60473, "x":1.97545, "y":5.26332, "heading":-0.2203, "vx":-1.0631, "vy":-0.9366, "omega":-0.32954, "ax":3.3555, "ay":-1.08593, "alpha":-0.05846, "fx":[43.72608,43.79792,43.79072,43.71842], "fy":[-14.26233,-14.03995,-14.05989,-14.28336]},
+ {"t":3.63592, "x":1.94393, "y":5.23358, "heading":-0.23057, "vx":-0.95847, "vy":-0.97046, "omega":-0.33137, "ax":3.39404, "ay":-0.96503, "alpha":-0.06872, "fx":[44.22542,44.30073,44.29674,44.22091], "fy":[-12.71125,-12.44614,-12.4575,-12.72418]},
+ {"t":3.6671, "x":1.9157, "y":5.20285, "heading":-0.24091, "vx":-0.85263, "vy":-1.00055, "omega":-0.33351, "ax":3.41967, "ay":-0.87507, "alpha":-0.07621, "fx":[44.55793,44.63376,44.63258,44.55622], "fy":[-11.55843,-11.26199,-11.26368,-11.56209]},
+ {"t":3.69828, "x":1.89077, "y":5.17123, "heading":-0.25131, "vx":-0.746, "vy":-1.02784, "omega":-0.33589, "ax":3.4377, "ay":-0.80565, "alpha":-0.08192, "fx":[44.79227,44.86734,44.86849,44.79293], "fy":[-10.66985,-10.34971,-10.34161,-10.66406]},
+ {"t":3.72946, "x":1.86918, "y":5.13878, "heading":-0.26178, "vx":-0.6388, "vy":-1.05296, "omega":-0.33844, "ax":3.45095, "ay":-0.75053, "alpha":-0.0864, "fx":[44.9648,45.03853,45.04162,44.96746], "fy":[-9.96497,-9.6264,-9.60877,-9.94992]},
+ {"t":3.76065, "x":1.85094, "y":5.10559, "heading":-0.27233, "vx":-0.53119, "vy":-1.07636, "omega":-0.34114, "ax":3.46104, "ay":-0.70574, "alpha":-0.09001, "fx":[45.09628,45.16845,45.17317,45.10064], "fy":[-9.39268,-9.03949,-9.01268,-9.36868]},
+ {"t":3.79183, "x":1.83606, "y":5.07168, "heading":-0.28297, "vx":-0.42327, "vy":-1.09837, "omega":-0.34394, "ax":3.46893, "ay":-0.66864, "alpha":-0.09298, "fx":[45.19931,45.26986,45.27599,45.20514], "fy":[-8.91911,-8.55412,-8.5185,-8.88648]},
+ {"t":3.82301, "x":1.82454, "y":5.0371, "heading":-0.2937, "vx":-0.3151, "vy":-1.11922, "omega":-0.34684, "ax":3.47525, "ay":-0.63741, "alpha":-0.09546, "fx":[45.28192,45.35088,45.35822,45.28905], "fy":[-8.52097,-8.14633,-8.10223,-8.48001]},
+ {"t":3.8542, "x":1.81641, "y":5.00189, "heading":-0.30451, "vx":-0.20673, "vy":-1.1391, "omega":-0.34982, "ax":3.4812, "ay":-0.60758, "alpha":-0.07903, "fx":[45.36694,45.42127,45.42811,45.37369], "fy":[-8.09905,-7.78888,-7.74651,-8.05882]},
+ {"t":3.88934, "x":1.81129, "y":4.96148, "heading":-0.31681, "vx":-0.08438, "vy":-1.16045, "omega":-0.3526, "ax":3.48696, "ay":-0.57134, "alpha":-0.06796, "fx":[45.44748,45.49132,45.49777,45.45392], "fy":[-7.60477,-7.33835,-7.29591,-7.56391]},
+ {"t":3.92449, "x":1.81048, "y":4.92034, "heading":-0.3292, "vx":0.03818, "vy":-1.18053, "omega":-0.35498, "ax":3.49326, "ay":-0.52854, "alpha":-0.0549, "fx":[45.53577,45.56843,45.57398,45.54136], "fy":[-7.01951,-6.80465,-6.76512,-6.98099]},
+ {"t":3.95964, "x":1.81398, "y":4.87852, "heading":-0.34168, "vx":0.16096, "vy":-1.19911, "omega":-0.35691, "ax":3.50012, "ay":-0.47724, "alpha":-0.03927, "fx":[45.63173,45.65274,45.65684,45.63587], "fy":[-6.31632,-6.16303,-6.13063,-6.28443]},
+ {"t":3.99478, "x":1.8218, "y":4.83608, "heading":-0.35422, "vx":0.28398, "vy":-1.21588, "omega":-0.35829, "ax":3.50745, "ay":-0.41469, "alpha":-0.02025, "fx":[45.73413,45.74349,45.74558,45.73624], "fy":[-5.4567,-5.37797,-5.35889,-5.43776]},
+ {"t":4.02993, "x":1.83395, "y":4.79309, "heading":-0.36681, "vx":0.40725, "vy":-1.23046, "omega":-0.35901, "ax":3.515, "ay":-0.3368, "alpha":0.00338, "fx":[45.8391,45.83784,45.83752,45.83878], "fy":[-4.38374,-4.39681,-4.40045,-4.38738]},
+ {"t":4.06508, "x":1.85043, "y":4.74964, "heading":-0.37943, "vx":0.5308, "vy":-1.24229, "omega":-0.35889, "ax":3.52211, "ay":-0.23732, "alpha":0.03349, "fx":[45.93669,45.928,45.92547,45.93425], "fy":[-3.01008,-3.13835,-3.17955,-3.0516]},
+ {"t":4.10022, "x":1.87126, "y":4.70583, "heading":-0.39204, "vx":0.65459, "vy":-1.25064, "omega":-0.35771, "ax":3.52719, "ay":-0.10623, "alpha":0.07305, "fx":[46.00265,45.99437,45.9917,46.00055], "fy":[-1.19545,-1.47115,-1.57458,-1.3003]},
+ {"t":4.13537, "x":1.89645, "y":4.66181, "heading":-0.40462, "vx":0.77856, "vy":-1.25437, "omega":-0.35514, "ax":3.52624, "ay":0.07347, "alpha":0.12706, "fx":[45.97685,45.98698,45.99178,45.98384], "fy":[1.2974,0.82979,0.62064,1.08456]},
+ {"t":4.17052, "x":1.92599, "y":4.61776, "heading":-0.4171, "vx":0.90249, "vy":-1.25179, "omega":-0.35068, "ax":3.50873, "ay":0.33235, "alpha":0.20445, "fx":[45.70144,45.77096,45.80828,45.74566], "fy":[4.89312,4.17556,3.77861,4.48916]},
+ {"t":4.20567, "x":1.95988, "y":4.57397, "heading":-0.42942, "vx":1.02582, "vy":-1.24011, "omega":-0.34349, "ax":3.44434, "ay":0.72852, "alpha":0.32191, "fx":[44.72423,44.94508,45.10004,44.89818], "fy":[10.38713,9.36631,8.61731,9.63137]},
+ {"t":4.24081, "x":1.99806, "y":4.53084, "heading":-0.4415, "vx":1.14687, "vy":-1.2145, "omega":-0.33218, "ax":3.23567, "ay":1.37151, "alpha":0.5098, "fx":[41.62356,42.16394,42.7493,42.24582], "fy":[19.20834,17.96452,16.5493,17.81997]},
+ {"t":4.27596, "x":2.04037, "y":4.489, "heading":-0.45317, "vx":1.2606, "vy":-1.1663, "omega":-0.31426, "ax":2.56633, "ay":2.3874, "alpha":0.79862, "fx":[32.08266,32.81393,34.88032,34.09085], "fy":[32.60938,31.83423,29.57294,30.51763]},
+ {"t":4.31111, "x":2.08626, "y":4.44948, "heading":-0.46422, "vx":1.3508, "vy":-1.08239, "omega":-0.28619, "ax":0.90935, "ay":3.37852, "alpha":1.05249, "fx":[10.37149,9.37327,13.52478,14.16518], "fy":[44.50714,44.68644,43.59958,43.44098]},
+ {"t":4.34625, "x":2.1343, "y":4.41352, "heading":-0.47428, "vx":1.38276, "vy":-0.96364, "omega":-0.2492, "ax":-0.95613, "ay":3.37197, "alpha":0.98891, "fx":[-12.57514,-15.15431,-12.37342,-9.7716], "fy":[44.01128,43.16708,44.01844,44.69584]},
+ {"t":4.3814, "x":2.18231, "y":4.38174, "heading":-0.48304, "vx":1.34915, "vy":-0.84513, "omega":-0.21444, "ax":-1.98808, "ay":2.89725, "alpha":0.81438, "fx":[-25.41183,-27.70863,-26.5207,-24.06315], "fy":[38.18149,36.53781,37.38542,39.02508]},
+ {"t":4.41655, "x":2.2285, "y":4.35382, "heading":-0.49057, "vx":1.27928, "vy":-0.7433, "omega":-0.18582, "ax":-2.47959, "ay":2.49818, "alpha":0.6791, "fx":[-31.73248,-33.51759,-33.00224,-31.09098], "fy":[33.20537,31.39735,31.92014,33.79022]},
+ {"t":4.4517, "x":2.27193, "y":4.32924, "heading":-0.4971, "vx":1.19213, "vy":-0.65549, "omega":-0.16195, "ax":-2.73722, "ay":2.21911, "alpha":0.58702, "fx":[-35.12709,-36.54343,-36.30762,-34.80369], "fy":[29.65772,27.89141,28.18311,30.02327]},
+ {"t":4.48684, "x":2.31214, "y":4.30757, "heading":-0.5028, "vx":1.09592, "vy":-0.5775, "omega":-0.14132, "ax":-2.88845, "ay":2.02288, "alpha":0.52323, "fx":[-37.15139,-38.3204,-38.21508,-36.98392], "fy":[27.12881,25.44964,25.59567,27.34575]},
+ {"t":4.52199, "x":2.34887, "y":4.28853, "heading":-0.50776, "vx":0.9944, "vy":-0.5064, "omega":-0.12293, "ax":-2.9856, "ay":1.88001, "alpha":0.47724, "fx":[-38.46519,-39.4642,-39.4268,-38.3818], "fy":[25.26992,23.67896,23.73129,25.38722]},
+ {"t":4.55714, "x":2.38198, "y":4.27189, "heading":-0.51208, "vx":0.88947, "vy":-0.44032, "omega":-0.10615, "ax":-3.05238, "ay":1.77224, "alpha":0.44279, "fx":[-39.37489,-40.25244,-40.25354,-39.3406], "fy":[23.85809,22.34562,22.3352,23.90673]},
+ {"t":4.59228, "x":2.41136, "y":4.25751, "heading":-0.51581, "vx":0.78219, "vy":-0.37803, "omega":-0.09059, "ax":-3.10072, "ay":1.68841, "alpha":0.41613, "fx":[-40.0369,-40.82442,-40.8488,-40.03311], "fy":[22.7543,21.30924,21.25511,22.7541]},
+ {"t":4.62743, "x":2.43693, "y":4.24526, "heading":-0.519, "vx":0.6732, "vy":-0.31869, "omega":-0.07596, "ax":-3.13715, "ay":1.62151, "alpha":0.39494, "fx":[-40.53774,-41.25638,-41.29555,-40.55385], "fy":[21.8699,20.48226,20.39669,21.83395]},
+ {"t":4.66258, "x":2.45866, "y":4.23507, "heading":-0.52167, "vx":0.56294, "vy":-0.2617, "omega":-0.06208, "ax":-3.16549, "ay":1.56695, "alpha":0.37772, "fx":[-40.92858,-41.5931,-41.64199,-40.95815], "fy":[21.14652,19.80788,19.69909,21.08376]},
+ {"t":4.69773, "x":2.47649, "y":4.22683, "heading":-0.52385, "vx":0.45168, "vy":-0.20662, "omega":-0.04881, "ax":-3.18811, "ay":1.52167, "alpha":0.36347, "fx":[-41.24135,-41.86238,-41.91781,-41.28027], "fy":[20.54443,19.24783,19.12158,20.46119]},
+ {"t":4.73287, "x":2.49039, "y":4.22051, "heading":-0.52556, "vx":0.33963, "vy":-0.15314, "omega":-0.03603, "ax":-3.20655, "ay":1.4835, "alpha":0.35148, "fx":[-41.4969,-42.08231,-42.1422,-41.54244], "fy":[20.03579,18.77552,18.63595,19.9367]},
+ {"t":4.76802, "x":2.50035, "y":4.21605, "heading":-0.52683, "vx":0.22693, "vy":-0.101, "omega":-0.02368, "ax":-3.22186, "ay":1.45091, "alpha":0.34126, "fx":[-41.70936,-42.26514,-42.32806,-41.75964], "fy":[19.60058,18.37192,18.22213,19.48912]},
+ {"t":4.80317, "x":2.50634, "y":4.21339, "heading":-0.52766, "vx":0.11369, "vy":-0.05001, "omega":-0.01168, "ax":-3.23475, "ay":1.42276, "alpha":0.33245, "fx":[-41.88864,-42.41942,-42.48436,-41.9423], "fy":[19.22406,18.02309,17.86546,19.10292]},
+ {"t":4.83831, "x":2.50833, "y":4.21251, "heading":-0.52807, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+ "splits":[0,37,89]
+ },
+ "events":[]
+}
diff --git a/FlexAdvKit2025/src/main/deploy/choreo/Forward.traj b/FlexAdvKit2025/src/main/deploy/choreo/Forward.traj
new file mode 100644
index 0000000..8dfdfa3
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/choreo/Forward.traj
@@ -0,0 +1,107 @@
+{
+ "name":"Forward",
+ "version":1,
+ "snapshot":{
+ "waypoints":[
+ {"x":0.9149709343910216, "y":6.988541603088379, "heading":0.0, "intervals":68, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":4.170864105224609, "y":6.938450813293457, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+ "constraints":[
+ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.54, "h":8.21}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":10.0}}, "enabled":true}],
+ "targetDt":0.05
+ },
+ "params":{
+ "waypoints":[
+ {"x":{"exp":"0.9149709343910217 m", "val":0.9149709343910216}, "y":{"exp":"6.988541603088379 m", "val":6.988541603088379}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":68, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+ {"x":{"exp":"4.170864105224609 m", "val":4.170864105224609}, "y":{"exp":"6.938450813293457 m", "val":6.938450813293457}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+ "constraints":[
+ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
+ {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"10 m / s ^ 2", "val":10.0}}}, "enabled":true}],
+ "targetDt":{
+ "exp":"0.05 s",
+ "val":0.05
+ }
+ },
+ "trajectory":{
+ "sampleType":"Swerve",
+ "waypoints":[0.0,3.35757],
+ "samples":[
+ {"t":0.0, "x":0.91497, "y":6.98854, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.99442, "ay":-0.16673, "alpha":-0.25573, "fx":[130.45343,130.45789,130.58861,129.84015], "fy":[-3.49192,-1.77872,-1.77842,-1.64788]},
+ {"t":0.04938, "x":0.92715, "y":6.98834, "heading":0.0, "vx":0.49348, "vy":-0.00823, "omega":-0.01263, "ax":9.99436, "ay":-0.16777, "alpha":0.12844, "fx":[130.52656,129.67616,130.56723,130.56712], "fy":[-2.16137,-2.21605,-2.21249,-2.1615]},
+ {"t":0.09875, "x":0.9637, "y":6.98773, "heading":-0.00062, "vx":0.98697, "vy":-0.01652, "omega":-0.00628, "ax":0.25711, "ay":0.00332, "alpha":0.00472, "fx":[3.26876,3.47444,3.33417,3.3341], "fy":[0.07151,0.01495,0.01499,0.07158]},
+ {"t":0.14813, "x":1.01275, "y":6.98692, "heading":-0.00093, "vx":0.99966, "vy":-0.01635, "omega":-0.00605, "ax":-0.00005, "ay":-0.00289, "alpha":0.0277, "fx":[-0.01323,-0.05422,0.03258,0.03239], "fy":[-0.01489,-0.06051,-0.06044,-0.01481]},
+ {"t":0.1975, "x":1.06211, "y":6.9861, "heading":-0.00123, "vx":0.99966, "vy":-0.01649, "omega":-0.00468, "ax":0.0, "ay":0.00013, "alpha":0.0226, "fx":[-0.02244,-0.02223,0.0225,0.02228], "fy":[0.02491,-0.0216,-0.02151,0.025]},
+ {"t":0.24688, "x":1.11147, "y":6.98529, "heading":-0.00146, "vx":0.99966, "vy":-0.01649, "omega":-0.00357, "ax":0.00002, "ay":0.00115, "alpha":0.02096, "fx":[-0.02084,-0.01954,0.02079,0.02057], "fy":[0.03683,-0.00694,-0.00684,0.03692]},
+ {"t":0.29626, "x":1.16083, "y":6.98448, "heading":-0.00164, "vx":0.99966, "vy":-0.01643, "omega":-0.00253, "ax":0.00002, "ay":0.00103, "alpha":0.01821, "fx":[-0.0181,-0.01645,0.01781,0.01761], "fy":[0.03262,-0.00593,-0.00584,0.03271]},
+ {"t":0.34563, "x":1.21019, "y":6.98367, "heading":-0.00177, "vx":0.99966, "vy":-0.01638, "omega":-0.00163, "ax":0.00001, "ay":0.00082, "alpha":0.01538, "fx":[-0.01507,-0.01367,0.01481,0.01462], "fy":[0.02712,-0.00592,-0.00583,0.0272]},
+ {"t":0.39501, "x":1.25955, "y":6.98286, "heading":-0.00185, "vx":0.99966, "vy":-0.01634, "omega":-0.00087, "ax":0.00001, "ay":0.00073, "alpha":0.01284, "fx":[-0.0123,-0.01116,0.01212,0.01195], "fy":[0.02353,-0.00454,-0.00447,0.02361]},
+ {"t":0.44438, "x":1.3089, "y":6.98205, "heading":-0.00189, "vx":0.99966, "vy":-0.0163, "omega":-0.00024, "ax":0.00001, "ay":0.00072, "alpha":0.01066, "fx":[-0.00991,-0.009,0.00983,0.00968], "fy":[0.02133,-0.0025,-0.00244,0.0214]},
+ {"t":0.49376, "x":1.35826, "y":6.98125, "heading":-0.0019, "vx":0.99966, "vy":-0.01627, "omega":0.00029, "ax":0.00001, "ay":0.00074, "alpha":0.00882, "fx":[-0.0079,-0.00717,0.0079,0.00778], "fy":[0.01973,-0.0005,-0.00044,0.01979]},
+ {"t":0.54314, "x":1.40762, "y":6.98045, "heading":-0.00189, "vx":0.99966, "vy":-0.01623, "omega":0.00072, "ax":0.00001, "ay":0.00075, "alpha":0.00725, "fx":[-0.0062,-0.00561,0.00627,0.00617], "fy":[0.01836,0.00123,0.00127,0.0184]},
+ {"t":0.59251, "x":1.45698, "y":6.97965, "heading":-0.00185, "vx":0.99966, "vy":-0.0162, "omega":0.00108, "ax":0.00001, "ay":0.00076, "alpha":0.00589, "fx":[-0.00476,-0.00428,0.00488,0.0048], "fy":[0.01708,0.00267,0.00271,0.01712]},
+ {"t":0.64189, "x":1.50634, "y":6.97885, "heading":-0.0018, "vx":0.99966, "vy":-0.01616, "omega":0.00137, "ax":0.00001, "ay":0.00076, "alpha":0.0047, "fx":[-0.00354,-0.00312,0.00368,0.00361], "fy":[0.01591,0.0039,0.00393,0.01594]},
+ {"t":0.69126, "x":1.5557, "y":6.97805, "heading":-0.00173, "vx":0.99966, "vy":-0.01612, "omega":0.0016, "ax":0.00001, "ay":0.00076, "alpha":0.00366, "fx":[-0.00249,-0.00211,0.00264,0.00259], "fy":[0.01484,0.00497,0.00499,0.01486]},
+ {"t":0.74064, "x":1.60506, "y":6.97726, "heading":-0.00165, "vx":0.99967, "vy":-0.01608, "omega":0.00178, "ax":0.00001, "ay":0.00076, "alpha":0.00275, "fx":[-0.00159,-0.00124,0.00175,0.0017], "fy":[0.01387,0.00591,0.00593,0.01389]},
+ {"t":0.79002, "x":1.65442, "y":6.97646, "heading":-0.00156, "vx":0.99967, "vy":-0.01605, "omega":0.00192, "ax":0.00001, "ay":0.00076, "alpha":0.00195, "fx":[-0.00082,-0.00048,0.00098,0.00095], "fy":[0.01302,0.00674,0.00676,0.01303]},
+ {"t":0.83939, "x":1.70378, "y":6.97567, "heading":-0.00147, "vx":0.99967, "vy":-0.01601, "omega":0.00201, "ax":0.00001, "ay":0.00076, "alpha":0.00126, "fx":[-0.00018,0.00018,0.00033,0.0003], "fy":[0.01226,0.00748,0.0075,0.01227]},
+ {"t":0.88877, "x":1.75314, "y":6.97488, "heading":-0.00137, "vx":0.99967, "vy":-0.01597, "omega":0.00208, "ax":0.00001, "ay":0.00076, "alpha":0.00066, "fx":[0.00036,0.00074,-0.00023,-0.00025], "fy":[0.0116,0.00813,0.00814,0.01161]},
+ {"t":0.93814, "x":1.8025, "y":6.97409, "heading":-0.00127, "vx":0.99967, "vy":-0.01593, "omega":0.00211, "ax":0.00001, "ay":0.00076, "alpha":0.00014, "fx":[0.00081,0.00123,-0.0007,-0.00072], "fy":[0.01102,0.00871,0.00871,0.01103]},
+ {"t":0.98752, "x":1.85186, "y":6.97331, "heading":-0.00116, "vx":0.99967, "vy":-0.0159, "omega":0.00212, "ax":0.00001, "ay":0.00076, "alpha":-0.0003, "fx":[0.00117,0.00165,-0.0011,-0.00111], "fy":[0.01051,0.0092,0.00921,0.01052]},
+ {"t":1.0369, "x":1.90122, "y":6.97253, "heading":-0.00106, "vx":0.99967, "vy":-0.01586, "omega":0.0021, "ax":0.00001, "ay":0.00076, "alpha":-0.00068, "fx":[0.00147,0.00201,-0.00142,-0.00143], "fy":[0.01007,0.00963,0.00964,0.01008]},
+ {"t":1.08627, "x":1.95058, "y":6.97174, "heading":-0.00095, "vx":0.99967, "vy":-0.01582, "omega":0.00207, "ax":0.00001, "ay":0.00076, "alpha":-0.001, "fx":[0.0017,0.00231,-0.0017,-0.0017], "fy":[0.00969,0.01001,0.01001,0.00969]},
+ {"t":1.13565, "x":1.99994, "y":6.97096, "heading":-0.00085, "vx":0.99967, "vy":-0.01578, "omega":0.00202, "ax":0.00001, "ay":0.00075, "alpha":-0.00127, "fx":[0.00188,0.00258,-0.00192,-0.00192], "fy":[0.00936,0.01033,0.01033,0.00936]},
+ {"t":1.18502, "x":2.0493, "y":6.97018, "heading":-0.00075, "vx":0.99967, "vy":-0.01575, "omega":0.00196, "ax":0.00001, "ay":0.00075, "alpha":-0.0015, "fx":[0.00201,0.00281,-0.0021,-0.0021], "fy":[0.00907,0.01061,0.01061,0.00907]},
+ {"t":1.2344, "x":2.09866, "y":6.96941, "heading":-0.00066, "vx":0.99967, "vy":-0.01571, "omega":0.00188, "ax":0.00001, "ay":0.00075, "alpha":-0.0017, "fx":[0.00211,0.00302,-0.00226,-0.00226], "fy":[0.00881,0.01085,0.01085,0.00881]},
+ {"t":1.28378, "x":2.14802, "y":6.96863, "heading":-0.00056, "vx":0.99967, "vy":-0.01567, "omega":0.0018, "ax":0.00001, "ay":0.00075, "alpha":-0.00187, "fx":[0.00218,0.0032,-0.00239,-0.00238], "fy":[0.00859,0.01107,0.01107,0.00859]},
+ {"t":1.33315, "x":2.19738, "y":6.96786, "heading":-0.00047, "vx":0.99967, "vy":-0.01563, "omega":0.00171, "ax":0.00001, "ay":0.00075, "alpha":-0.00202, "fx":[0.00222,0.00337,-0.00249,-0.00249], "fy":[0.00839,0.01126,0.01125,0.00839]},
+ {"t":1.38253, "x":2.24674, "y":6.96709, "heading":-0.00039, "vx":0.99967, "vy":-0.0156, "omega":0.00161, "ax":0.00001, "ay":0.00075, "alpha":-0.00215, "fx":[0.00224,0.00353,-0.00259,-0.00258], "fy":[0.00821,0.01142,0.01142,0.00821]},
+ {"t":1.4319, "x":2.2961, "y":6.96632, "heading":-0.00031, "vx":0.99967, "vy":-0.01556, "omega":0.0015, "ax":0.00001, "ay":0.00075, "alpha":-0.00227, "fx":[0.00225,0.00368,-0.00267,-0.00266], "fy":[0.00804,0.01157,0.01157,0.00804]},
+ {"t":1.48128, "x":2.34546, "y":6.96555, "heading":-0.00024, "vx":0.99967, "vy":-0.01552, "omega":0.00139, "ax":0.00001, "ay":0.00075, "alpha":-0.00238, "fx":[0.00225,0.00383,-0.00274,-0.00273], "fy":[0.00789,0.01171,0.01171,0.00789]},
+ {"t":1.53066, "x":2.39482, "y":6.96479, "heading":-0.00017, "vx":0.99967, "vy":-0.01549, "omega":0.00127, "ax":0.00001, "ay":0.00075, "alpha":-0.00248, "fx":[0.00223,0.00398,-0.00281,-0.0028], "fy":[0.00775,0.01185,0.01184,0.00774]},
+ {"t":1.58003, "x":2.44418, "y":6.96402, "heading":-0.00011, "vx":0.99968, "vy":-0.01545, "omega":0.00115, "ax":0.00001, "ay":0.00075, "alpha":-0.00258, "fx":[0.00221,0.00414,-0.00288,-0.00287], "fy":[0.00761,0.01198,0.01197,0.0076]},
+ {"t":1.62941, "x":2.49354, "y":6.96326, "heading":-0.00005, "vx":0.99968, "vy":-0.01541, "omega":0.00102, "ax":0.00001, "ay":0.00075, "alpha":-0.00268, "fx":[0.00219,0.00429,-0.00295,-0.00294], "fy":[0.00747,0.0121,0.0121,0.00746]},
+ {"t":1.67878, "x":2.5429, "y":6.9625, "heading":0.0, "vx":0.99968, "vy":-0.01537, "omega":0.00089, "ax":0.00001, "ay":0.00075, "alpha":-0.00278, "fx":[0.00217,0.00446,-0.00302,-0.00301], "fy":[0.00732,0.01223,0.01222,0.00732]},
+ {"t":1.72816, "x":2.59226, "y":6.96174, "heading":0.00005, "vx":0.99968, "vy":-0.01534, "omega":0.00075, "ax":0.00001, "ay":0.00075, "alpha":-0.00289, "fx":[0.00214,0.00464,-0.00309,-0.00309], "fy":[0.00718,0.01236,0.01235,0.00718]},
+ {"t":1.77754, "x":2.64162, "y":6.96099, "heading":0.00008, "vx":0.99968, "vy":-0.0153, "omega":0.00061, "ax":0.00001, "ay":0.00075, "alpha":-0.00299, "fx":[0.00211,0.00482,-0.00317,-0.00317], "fy":[0.00704,0.01249,0.01248,0.00703]},
+ {"t":1.82691, "x":2.69098, "y":6.96023, "heading":0.00011, "vx":0.99968, "vy":-0.01526, "omega":0.00046, "ax":0.00001, "ay":0.00075, "alpha":-0.0031, "fx":[0.00208,0.005,-0.00325,-0.00325], "fy":[0.00689,0.01263,0.01262,0.00688]},
+ {"t":1.87629, "x":2.74034, "y":6.95948, "heading":0.00014, "vx":0.99968, "vy":-0.01523, "omega":0.00031, "ax":0.00001, "ay":0.00075, "alpha":-0.00321, "fx":[0.00205,0.0052,-0.00333,-0.00333], "fy":[0.00674,0.01276,0.01276,0.00673]},
+ {"t":1.92566, "x":2.7897, "y":6.95873, "heading":0.00015, "vx":0.99968, "vy":-0.01519, "omega":0.00015, "ax":0.00001, "ay":0.00075, "alpha":-0.00333, "fx":[0.00201,0.0054,-0.00341,-0.00341], "fy":[0.00659,0.0129,0.01289,0.00658]},
+ {"t":1.97504, "x":2.83906, "y":6.95798, "heading":0.00016, "vx":0.99968, "vy":-0.01515, "omega":-0.00002, "ax":0.00001, "ay":0.00075, "alpha":-0.00343, "fx":[0.00196,0.0056,-0.00349,-0.00348], "fy":[0.00644,0.01304,0.01303,0.00643]},
+ {"t":2.02442, "x":2.88842, "y":6.95723, "heading":0.00016, "vx":0.99968, "vy":-0.01512, "omega":-0.00019, "ax":0.00001, "ay":0.00075, "alpha":-0.00354, "fx":[0.0019,0.00579,-0.00356,-0.00355], "fy":[0.00629,0.01317,0.01316,0.00629]},
+ {"t":2.07379, "x":2.93778, "y":6.95649, "heading":0.00015, "vx":0.99968, "vy":-0.01508, "omega":-0.00036, "ax":0.00001, "ay":0.00075, "alpha":-0.00362, "fx":[0.00182,0.00598,-0.00361,-0.0036], "fy":[0.00616,0.01329,0.01328,0.00615]},
+ {"t":2.12317, "x":2.98714, "y":6.95574, "heading":0.00013, "vx":0.99968, "vy":-0.01504, "omega":-0.00054, "ax":0.00001, "ay":0.00074, "alpha":-0.00369, "fx":[0.00171,0.00615,-0.00364,-0.00364], "fy":[0.00604,0.01339,0.01338,0.00604]},
+ {"t":2.17254, "x":3.0365, "y":6.955, "heading":0.0001, "vx":0.99968, "vy":-0.01501, "omega":-0.00072, "ax":0.00001, "ay":0.00074, "alpha":-0.00374, "fx":[0.00157,0.0063,-0.00365,-0.00364], "fy":[0.00595,0.01347,0.01346,0.00594]},
+ {"t":2.22192, "x":3.08586, "y":6.95426, "heading":0.00007, "vx":0.99968, "vy":-0.01497, "omega":-0.00091, "ax":0.00001, "ay":0.00074, "alpha":-0.00375, "fx":[0.00139,0.00641,-0.00361,-0.00361], "fy":[0.00589,0.01351,0.01351,0.00589]},
+ {"t":2.2713, "x":3.13522, "y":6.95352, "heading":0.00002, "vx":0.99968, "vy":-0.01493, "omega":-0.00109, "ax":0.00001, "ay":0.00074, "alpha":-0.00371, "fx":[0.00114,0.00648,-0.00353,-0.00352], "fy":[0.00587,0.01351,0.01351,0.00587]},
+ {"t":2.32067, "x":3.18458, "y":6.95279, "heading":-0.00003, "vx":0.99968, "vy":-0.0149, "omega":-0.00127, "ax":0.00001, "ay":0.00074, "alpha":-0.00361, "fx":[0.00083,0.00649,-0.00337,-0.00337], "fy":[0.00592,0.01345,0.01345,0.00592]},
+ {"t":2.37005, "x":3.23394, "y":6.95205, "heading":-0.00009, "vx":0.99968, "vy":-0.01486, "omega":-0.00145, "ax":0.00001, "ay":0.00074, "alpha":-0.00343, "fx":[0.00043,0.00643,-0.00314,-0.00314], "fy":[0.00604,0.01331,0.01332,0.00604]},
+ {"t":2.41943, "x":3.2833, "y":6.95132, "heading":-0.00017, "vx":0.99968, "vy":-0.01482, "omega":-0.00162, "ax":0.00001, "ay":0.00074, "alpha":-0.00315, "fx":[-0.00008,0.00627,-0.00281,-0.00281], "fy":[0.00625,0.01308,0.01309,0.00626]},
+ {"t":2.4688, "x":3.33266, "y":6.95059, "heading":-0.00025, "vx":0.99969, "vy":-0.01479, "omega":-0.00178, "ax":0.00001, "ay":0.00074, "alpha":-0.00276, "fx":[-0.00072,0.00599,-0.00235,-0.00235], "fy":[0.00658,0.01273,0.01274,0.0066]},
+ {"t":2.51818, "x":3.38202, "y":6.94986, "heading":-0.00033, "vx":0.99969, "vy":-0.01475, "omega":-0.00191, "ax":0.00001, "ay":0.00074, "alpha":-0.00222, "fx":[-0.00152,0.00558,-0.00174,-0.00175], "fy":[0.00705,0.01223,0.01226,0.00708]},
+ {"t":2.56755, "x":3.43138, "y":6.94913, "heading":-0.00043, "vx":0.99969, "vy":-0.01471, "omega":-0.00202, "ax":0.00001, "ay":0.00074, "alpha":-0.00151, "fx":[-0.00249,0.005,-0.00097,-0.00098], "fy":[0.00769,0.01157,0.0116,0.00772]},
+ {"t":2.61693, "x":3.48074, "y":6.94841, "heading":-0.00053, "vx":0.99969, "vy":-0.01468, "omega":-0.0021, "ax":0.00001, "ay":0.00074, "alpha":-0.00061, "fx":[-0.00367,0.00423,0.00001,-0.00001], "fy":[0.00851,0.01071,0.01076,0.00856]},
+ {"t":2.66631, "x":3.5301, "y":6.94768, "heading":-0.00063, "vx":0.99969, "vy":-0.01464, "omega":-0.00213, "ax":0.00001, "ay":0.00074, "alpha":0.0005, "fx":[-0.00509,0.00325,0.00121,0.00119], "fy":[0.00955,0.00963,0.00969,0.00961]},
+ {"t":2.71568, "x":3.57946, "y":6.94696, "heading":-0.00074, "vx":0.99969, "vy":-0.0146, "omega":-0.0021, "ax":0.00001, "ay":0.00074, "alpha":0.00188, "fx":[-0.00678,0.002,0.00269,0.00265], "fy":[0.01084,0.00829,0.00836,0.01091]},
+ {"t":2.76506, "x":3.62882, "y":6.94624, "heading":-0.00084, "vx":0.99969, "vy":-0.01457, "omega":-0.00201, "ax":0.00001, "ay":0.00074, "alpha":0.00355, "fx":[-0.0088,0.00051,0.00444,0.0044], "fy":[0.01244,0.00668,0.00676,0.01252]},
+ {"t":2.81443, "x":3.67819, "y":6.94552, "heading":-0.00094, "vx":0.99969, "vy":-0.01453, "omega":-0.00183, "ax":0.00001, "ay":0.00074, "alpha":0.0056, "fx":[-0.01113,-0.00154,0.00664,0.00659], "fy":[0.0144,0.00474,0.00483,0.0145]},
+ {"t":2.86381, "x":3.72755, "y":6.94481, "heading":-0.00103, "vx":0.99969, "vy":-0.01449, "omega":-0.00156, "ax":0.00001, "ay":0.00074, "alpha":0.00797, "fx":[-0.01424,-0.00318,0.00902,0.00897], "fy":[0.01688,0.0024,0.00251,0.01699]},
+ {"t":2.91319, "x":3.77691, "y":6.94409, "heading":-0.00111, "vx":0.99969, "vy":-0.01446, "omega":-0.00116, "ax":0.00001, "ay":0.00076, "alpha":0.01151, "fx":[-0.01703,-0.00856,0.01311,0.01304], "fy":[0.02011,-0.00051,-0.00039,0.02023]},
+ {"t":2.96256, "x":3.82627, "y":6.94338, "heading":-0.00116, "vx":0.99969, "vy":-0.01442, "omega":-0.0006, "ax":0.00001, "ay":0.00077, "alpha":0.01425, "fx":[-0.02478,-0.00357,0.0145,0.01443], "fy":[0.02442,-0.00449,-0.00436,0.02455]},
+ {"t":3.01194, "x":3.87563, "y":6.94267, "heading":-0.00119, "vx":0.99969, "vy":-0.01438, "omega":0.00011, "ax":0.00001, "ay":0.00076, "alpha":0.02507, "fx":[-0.02108,-0.03925,0.03049,0.03041], "fy":[0.0301,-0.0105,-0.01036,0.03024]},
+ {"t":3.06131, "x":3.92499, "y":6.94196, "heading":-0.00119, "vx":0.99969, "vy":-0.01434, "omega":0.00135, "ax":0.00001, "ay":0.00066, "alpha":0.01586, "fx":[-0.06765,0.0622,0.003,0.00294], "fy":[0.03768,-0.02073,-0.02059,0.03783]},
+ {"t":3.11069, "x":3.97435, "y":6.94125, "heading":-0.00112, "vx":0.99969, "vy":-0.01431, "omega":0.00213, "ax":0.00001, "ay":0.00042, "alpha":0.0805, "fx":[0.03525,-0.28125,0.12321,0.12311], "fy":[0.04479,-0.03393,-0.03376,0.04495]},
+ {"t":3.16007, "x":4.02371, "y":6.94054, "heading":-0.00102, "vx":0.99969, "vy":-0.01429, "omega":0.0061, "ax":0.00001, "ay":0.00055, "alpha":-0.123, "fx":[-0.39258,0.97917,-0.29345,-0.29275], "fy":[0.05223,-0.03734,-0.03865,0.05258]},
+ {"t":3.20944, "x":4.07307, "y":6.93984, "heading":-0.00072, "vx":0.99969, "vy":-0.01426, "omega":0.00003, "ax":-0.25487, "ay":0.00582, "alpha":0.17443, "fx":[-2.68283,-4.82275,-2.89283,-2.89634], "fy":[-0.00054,0.15185,0.15449,-0.00238]},
+ {"t":3.25882, "x":4.12212, "y":6.93914, "heading":-0.00071, "vx":0.98711, "vy":-0.01398, "omega":0.00864, "ax":-9.99476, "ay":0.14145, "alpha":-0.05737, "fx":[-130.60905,-129.76892,-130.48999,-130.48999], "fy":[1.8791,1.81025,1.80923,1.87969]},
+ {"t":3.30819, "x":4.15868, "y":6.93862, "heading":-0.00029, "vx":0.49361, "vy":-0.00699, "omega":0.00581, "ax":-9.9969, "ay":0.14163, "alpha":-0.11766, "fx":[-130.53615,-130.53587,-130.37577,-130.02163], "fy":[0.49133,2.25305,2.25302,2.39036]},
+ {"t":3.35757, "x":4.17086, "y":6.93845, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+ "splits":[0]
+ },
+ "events":[]
+}
diff --git a/FlexAdvKit2025/src/main/deploy/choreo/proj.chor b/FlexAdvKit2025/src/main/deploy/choreo/proj.chor
new file mode 100644
index 0000000..364409a
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/choreo/proj.chor
@@ -0,0 +1,78 @@
+{
+ "name":"proj",
+ "version":1,
+ "type":"Swerve",
+ "variables":{
+ "expressions":{},
+ "poses":{}
+ },
+ "config":{
+ "frontLeft":{
+ "x":{
+ "exp":"9.75 in",
+ "val":0.24765
+ },
+ "y":{
+ "exp":"9.75 in",
+ "val":0.24765
+ }
+ },
+ "backLeft":{
+ "x":{
+ "exp":"-9.75 in",
+ "val":-0.24765
+ },
+ "y":{
+ "exp":"9.75 in",
+ "val":0.24765
+ }
+ },
+ "mass":{
+ "exp":"115 lbs",
+ "val":52.16312255
+ },
+ "inertia":{
+ "exp":"2 kg m ^ 2",
+ "val":2.0
+ },
+ "gearing":{
+ "exp":"5.142857142857142",
+ "val":5.142857142857142
+ },
+ "radius":{
+ "exp":"2.194 in",
+ "val":0.055727599999999995
+ },
+ "vmax":{
+ "exp":"3000 RPM",
+ "val":314.1592653589793
+ },
+ "tmax":{
+ "exp":"0.5 N * m",
+ "val":0.5
+ },
+ "cof":{
+ "exp":"1.19",
+ "val":1.19
+ },
+ "bumper":{
+ "front":{
+ "exp":"19.5 in",
+ "val":0.4953
+ },
+ "side":{
+ "exp":"16.25 in",
+ "val":0.41275
+ },
+ "back":{
+ "exp":"19.5 in",
+ "val":0.4953
+ }
+ },
+ "differentialTrackWidth":{
+ "exp":"22 in",
+ "val":0.5588
+ }
+ },
+ "generationFeatures":[]
+}
diff --git a/AdvKit2024/src/main/deploy/pathplanner/autos/Example Auto.auto b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto
similarity index 50%
rename from AdvKit2024/src/main/deploy/pathplanner/autos/Example Auto.auto
rename to FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto
index 70b7ab2..ef27268 100644
--- a/AdvKit2024/src/main/deploy/pathplanner/autos/Example Auto.auto
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto
@@ -7,7 +7,19 @@
{
"type": "path",
"data": {
- "pathName": "Example Path"
+ "pathName": "Test1"
+ }
+ },
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Test2"
+ }
+ },
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Test3"
}
}
]
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto
new file mode 100644
index 0000000..2dc25df
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto
@@ -0,0 +1,31 @@
+{
+ "version": "2025.0",
+ "command": {
+ "type": "sequential",
+ "data": {
+ "commands": [
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Test1"
+ }
+ },
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Test4"
+ }
+ },
+ {
+ "type": "path",
+ "data": {
+ "pathName": "Test5"
+ }
+ }
+ ]
+ }
+ },
+ "resetOdom": true,
+ "folder": null,
+ "choreoAuto": false
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json b/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..23e0db9
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path
new file mode 100644
index 0000000..f73d342
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path
@@ -0,0 +1,54 @@
+{
+ "version": "2025.0",
+ "waypoints": [
+ {
+ "anchor": {
+ "x": 7.851946721311475,
+ "y": 6.860092213114753
+ },
+ "prevControl": null,
+ "nextControl": {
+ "x": 5.850000000003737,
+ "y": 6.72822745901907
+ },
+ "isLocked": false,
+ "linkedName": "TopStart"
+ },
+ {
+ "anchor": {
+ "x": 3.621535893850387,
+ "y": 5.179525806843958
+ },
+ "prevControl": {
+ "x": 3.943599090682578,
+ "y": 5.331823668166545
+ },
+ "nextControl": null,
+ "isLocked": false,
+ "linkedName": "L"
+ }
+ ],
+ "rotationTargets": [],
+ "constraintZones": [],
+ "pointTowardsZones": [],
+ "eventMarkers": [],
+ "globalConstraints": {
+ "maxVelocity": 3.5,
+ "maxAcceleration": 11.4,
+ "maxAngularVelocity": 540.0,
+ "maxAngularAcceleration": 720.0,
+ "nominalVoltage": 12.0,
+ "unlimited": false
+ },
+ "goalEndState": {
+ "velocity": 0,
+ "rotation": -59.99999999999999
+ },
+ "reversed": false,
+ "folder": null,
+ "idealStartingState": {
+ "velocity": 0,
+ "rotation": 180.0
+ },
+ "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path
new file mode 100644
index 0000000..8a22508
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path
@@ -0,0 +1,54 @@
+{
+ "version": "2025.0",
+ "waypoints": [
+ {
+ "anchor": {
+ "x": 3.621535893850387,
+ "y": 5.179525806843958
+ },
+ "prevControl": null,
+ "nextControl": {
+ "x": 2.529405737704918,
+ "y": 5.397592213114754
+ },
+ "isLocked": false,
+ "linkedName": "L"
+ },
+ {
+ "anchor": {
+ "x": 1.3905737704918033,
+ "y": 7.123821721311475
+ },
+ "prevControl": {
+ "x": 2.1098360655737727,
+ "y": 6.392571721311475
+ },
+ "nextControl": null,
+ "isLocked": false,
+ "linkedName": "TopStation"
+ }
+ ],
+ "rotationTargets": [],
+ "constraintZones": [],
+ "pointTowardsZones": [],
+ "eventMarkers": [],
+ "globalConstraints": {
+ "maxVelocity": 3.5,
+ "maxAcceleration": 11.4,
+ "maxAngularVelocity": 540.0,
+ "maxAngularAcceleration": 720.0,
+ "nominalVoltage": 12.0,
+ "unlimited": false
+ },
+ "goalEndState": {
+ "velocity": 0,
+ "rotation": 125.00000000000001
+ },
+ "reversed": false,
+ "folder": null,
+ "idealStartingState": {
+ "velocity": 0,
+ "rotation": -59.99999999999999
+ },
+ "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path
new file mode 100644
index 0000000..f8a1a18
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path
@@ -0,0 +1,54 @@
+{
+ "version": "2025.0",
+ "waypoints": [
+ {
+ "anchor": {
+ "x": 1.3905737704918033,
+ "y": 7.123821721311475
+ },
+ "prevControl": null,
+ "nextControl": {
+ "x": 2.254299605707709,
+ "y": 6.635090682144481
+ },
+ "isLocked": false,
+ "linkedName": "TopStation"
+ },
+ {
+ "anchor": {
+ "x": 3.935052287697343,
+ "y": 5.326793537896526
+ },
+ "prevControl": {
+ "x": 2.2246015270697486,
+ "y": 5.745540765893312
+ },
+ "nextControl": null,
+ "isLocked": false,
+ "linkedName": "K"
+ }
+ ],
+ "rotationTargets": [],
+ "constraintZones": [],
+ "pointTowardsZones": [],
+ "eventMarkers": [],
+ "globalConstraints": {
+ "maxVelocity": 3.5,
+ "maxAcceleration": 11.4,
+ "maxAngularVelocity": 540.0,
+ "maxAngularAcceleration": 720.0,
+ "nominalVoltage": 12.0,
+ "unlimited": false
+ },
+ "goalEndState": {
+ "velocity": 0,
+ "rotation": -59.99999999999999
+ },
+ "reversed": false,
+ "folder": null,
+ "idealStartingState": {
+ "velocity": 0,
+ "rotation": 125.00000000000001
+ },
+ "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path
new file mode 100644
index 0000000..a5316b8
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path
@@ -0,0 +1,54 @@
+{
+ "version": "2025.0",
+ "waypoints": [
+ {
+ "anchor": {
+ "x": 3.621535893850387,
+ "y": 5.179525806843958
+ },
+ "prevControl": null,
+ "nextControl": {
+ "x": 3.293568906584885,
+ "y": 5.630266713677068
+ },
+ "isLocked": false,
+ "linkedName": "L"
+ },
+ {
+ "anchor": {
+ "x": 1.3905737704918033,
+ "y": 7.123821721311475
+ },
+ "prevControl": {
+ "x": 1.6183401639344261,
+ "y": 6.812141393442622
+ },
+ "nextControl": null,
+ "isLocked": false,
+ "linkedName": "TopStation"
+ }
+ ],
+ "rotationTargets": [],
+ "constraintZones": [],
+ "pointTowardsZones": [],
+ "eventMarkers": [],
+ "globalConstraints": {
+ "maxVelocity": 3.5,
+ "maxAcceleration": 11.4,
+ "maxAngularVelocity": 540.0,
+ "maxAngularAcceleration": 720.0,
+ "nominalVoltage": 12.0,
+ "unlimited": false
+ },
+ "goalEndState": {
+ "velocity": 0,
+ "rotation": -55.0
+ },
+ "reversed": false,
+ "folder": null,
+ "idealStartingState": {
+ "velocity": 0,
+ "rotation": -59.99999999999999
+ },
+ "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path
new file mode 100644
index 0000000..3293e18
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path
@@ -0,0 +1,54 @@
+{
+ "version": "2025.0",
+ "waypoints": [
+ {
+ "anchor": {
+ "x": 1.3905737704918033,
+ "y": 7.123821721311475
+ },
+ "prevControl": null,
+ "nextControl": {
+ "x": 2.1596146438624766,
+ "y": 6.570702123037392
+ },
+ "isLocked": false,
+ "linkedName": "TopStation"
+ },
+ {
+ "anchor": {
+ "x": 3.935052287697343,
+ "y": 5.326793537896526
+ },
+ "prevControl": {
+ "x": 3.730494417351021,
+ "y": 5.507440918329981
+ },
+ "nextControl": null,
+ "isLocked": false,
+ "linkedName": "K"
+ }
+ ],
+ "rotationTargets": [],
+ "constraintZones": [],
+ "pointTowardsZones": [],
+ "eventMarkers": [],
+ "globalConstraints": {
+ "maxVelocity": 3.5,
+ "maxAcceleration": 11.4,
+ "maxAngularVelocity": 540.0,
+ "maxAngularAcceleration": 720.0,
+ "nominalVoltage": 12.0,
+ "unlimited": false
+ },
+ "goalEndState": {
+ "velocity": 0,
+ "rotation": -59.99999999999999
+ },
+ "reversed": false,
+ "folder": null,
+ "idealStartingState": {
+ "velocity": 0,
+ "rotation": -55.0
+ },
+ "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json b/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..948beee
--- /dev/null
+++ b/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,34 @@
+{
+ "robotWidth": 0.9,
+ "robotLength": 0.9,
+ "holonomicMode": true,
+ "pathFolders": [],
+ "autoFolders": [],
+ "defaultMaxVel": 3.5,
+ "defaultMaxAccel": 11.4,
+ "defaultMaxAngVel": 540.0,
+ "defaultMaxAngAccel": 720.0,
+ "defaultNominalVoltage": 12.0,
+ "robotMass": 115.0,
+ "robotMOI": 6.883,
+ "robotTrackwidth": 0.546,
+ "driveWheelRadius": 0.0508,
+ "driveGearing": 7.13,
+ "maxDriveSpeed": 5.45,
+ "driveMotorType": "krakenX60FOC",
+ "driveCurrentLimit": 120.0,
+ "wheelCOF": 1.43,
+ "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": [
+ "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.0,\"y\":0.0},\"size\":{\"width\":0.2,\"length\":0.2},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
+ ]
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java b/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java
new file mode 100644
index 0000000..4768c0b
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java
@@ -0,0 +1,17 @@
+package frc.robot;
+
+/** Automatically generated file containing build version information. */
+public final class BuildConstants {
+ public static final String MAVEN_GROUP = "";
+ public static final String MAVEN_NAME = "FlexAdvKit2025";
+ public static final String VERSION = "unspecified";
+ public static final int GIT_REVISION = 48;
+ public static final String GIT_SHA = "e7b0831bf27ec0fb2d428203b80c3a6405767683";
+ public static final String GIT_DATE = "2025-01-08 21:22:39 EST";
+ public static final String GIT_BRANCH = "many_sim_changes";
+ public static final String BUILD_DATE = "2025-01-08 21:24:54 EST";
+ public static final long BUILD_UNIX_TIME = 1736389494328L;
+ public static final int DIRTY = 1;
+
+ private BuildConstants() {}
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/Constants.java b/FlexAdvKit2025/src/main/java/frc/robot/Constants.java
similarity index 58%
rename from AdvKit2024/src/main/java/frc/robot/Constants.java
rename to FlexAdvKit2025/src/main/java/frc/robot/Constants.java
index d6c9334..097ca97 100644
--- a/AdvKit2024/src/main/java/frc/robot/Constants.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/Constants.java
@@ -27,19 +27,27 @@
import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
+import com.pathplanner.lib.config.ModuleConfig;
+import com.pathplanner.lib.config.RobotConfig;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.Mass;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotBase;
+import frc.robot.subsystems.drive.Drive;
import java.util.Map;
+import org.ironmaple.simulation.drivesims.COTS;
+import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
+import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
+import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
/**
* This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running
@@ -62,20 +70,35 @@ public static enum Mode {
}
public class IntakeConstants {
- public static final int INTAKE_MOTOR_ID = 6;
- public static final double INTAKE_OUTPUT_PERCENT = 0.8;
+ public static enum IntakeState {
+ IDLE(0.0),
+ INTAKE(0.8),
+ EXTAKE(-0.8);
+
+ public double pct = 0.0;
+
+ private IntakeState(double pct) {
+ this.pct = pct;
+ }
+ }
+ public static final int INTAKE_MOTOR_ID = 6;
public static final int BEAM_BREAK_SENSOR_ID = 1;
}
public class DriveConstants {
+ public static enum SysIdRoutineMode {
+ Drive,
+ Steer,
+ Rotation
+ }
// Both sets of gains need to be tuned to your individual robot.
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains =
new Slot0Configs()
- .withKP(50)
+ .withKP(100)
.withKI(0)
.withKD(0.0)
.withKS(0.03428)
@@ -86,12 +109,12 @@ public class DriveConstants {
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains =
new Slot0Configs()
- .withKP(0.17527)
+ .withKP(0.4)
.withKI(0)
.withKD(0)
- .withKS(0.066052)
- .withKV(0.11653)
- .withKA(0.014691);
+ .withKS(0.08223)
+ .withKV(0.097754)
+ .withKA(0.02484);
// The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains for the steer motors
@@ -131,7 +154,7 @@ public class DriveConstants {
// Theoretical free speed (m/s) at 12 V applied output;
// This needs to be tuned to your individual robot
- public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(7.0);
+ public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.573);
// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
// This may need to be tuned to your individual robot
@@ -159,32 +182,35 @@ public class DriveConstants {
.withPigeon2Id(kPigeonId)
.withPigeon2Configs(pigeonConfigs);
- private static final SwerveModuleConstantsFactory ConstantCreator =
- new SwerveModuleConstantsFactory()
- .withDriveMotorGearRatio(kDriveGearRatio)
- .withSteerMotorGearRatio(kSteerGearRatio)
- .withCouplingGearRatio(kCoupleRatio)
- .withWheelRadius(kWheelRadius)
- .withSteerMotorGains(steerGains)
- .withDriveMotorGains(driveGains)
- .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
- .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
- .withSlipCurrent(kSlipCurrent)
- .withSpeedAt12Volts(kSpeedAt12Volts)
- .withFeedbackSource(kSteerFeedbackType)
- .withDriveMotorInitialConfigs(driveInitialConfigs)
- .withSteerMotorInitialConfigs(steerInitialConfigs)
- .withCANcoderInitialConfigs(cancoderInitialConfigs)
- .withSteerInertia(kSteerInertia)
- .withDriveInertia(kDriveInertia)
- .withSteerFrictionVoltage(kSteerFrictionVoltage)
- .withDriveFrictionVoltage(kDriveFrictionVoltage);
+ private static final SwerveModuleConstantsFactory<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ ConstantCreator =
+ new SwerveModuleConstantsFactory<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
+ .withDriveMotorGearRatio(kDriveGearRatio)
+ .withSteerMotorGearRatio(kSteerGearRatio)
+ .withCouplingGearRatio(kCoupleRatio)
+ .withWheelRadius(kWheelRadius)
+ .withSteerMotorGains(steerGains)
+ .withDriveMotorGains(driveGains)
+ .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
+ .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
+ .withSlipCurrent(kSlipCurrent)
+ .withSpeedAt12Volts(kSpeedAt12Volts)
+ .withFeedbackSource(kSteerFeedbackType)
+ .withDriveMotorInitialConfigs(driveInitialConfigs)
+ .withSteerMotorInitialConfigs(steerInitialConfigs)
+ .withEncoderInitialConfigs(cancoderInitialConfigs)
+ .withSteerInertia(kSteerInertia)
+ .withDriveInertia(kDriveInertia)
+ .withSteerFrictionVoltage(kSteerFrictionVoltage)
+ .withDriveFrictionVoltage(kDriveFrictionVoltage);
// Front Left
private static final int kFrontLeftDriveMotorId = 13;
private static final int kFrontLeftSteerMotorId = 14;
private static final int kFrontLeftEncoderId = 15;
- private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.214111328125);
+ private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.2119140625);
private static final boolean kFrontLeftSteerMotorInverted = false;
private static final boolean kFrontLeftCANcoderInverted = false;
@@ -195,7 +221,7 @@ public class DriveConstants {
private static final int kFrontRightDriveMotorId = 19;
private static final int kFrontRightSteerMotorId = 20;
private static final int kFrontRightEncoderId = 21;
- private static final Angle kFrontRightEncoderOffset = Rotations.of(0.267822265625);
+ private static final Angle kFrontRightEncoderOffset = Rotations.of(0.26513671875);
private static final boolean kFrontRightSteerMotorInverted = false;
private static final boolean kFrontRightCANcoderInverted = false;
@@ -206,7 +232,7 @@ public class DriveConstants {
private static final int kBackLeftDriveMotorId = 16;
private static final int kBackLeftSteerMotorId = 17;
private static final int kBackLeftEncoderId = 18;
- private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.356689453125);
+ private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.35205078125);
private static final boolean kBackLeftSteerMotorInverted = false;
private static final boolean kBackLeftCANcoderInverted = false;
@@ -217,63 +243,107 @@ public class DriveConstants {
private static final int kBackRightDriveMotorId = 10;
private static final int kBackRightSteerMotorId = 11;
private static final int kBackRightEncoderId = 12;
- private static final Angle kBackRightEncoderOffset = Rotations.of(-0.326171875);
+ private static final Angle kBackRightEncoderOffset = Rotations.of(-0.32763671875);
private static final boolean kBackRightSteerMotorInverted = false;
private static final boolean kBackRightCANcoderInverted = false;
private static final Distance kBackRightXPos = Inches.of(-9.75);
private static final Distance kBackRightYPos = Inches.of(-9.75);
- public static final SwerveModuleConstants FrontLeft =
- ConstantCreator.createModuleConstants(
- kFrontLeftSteerMotorId,
- kFrontLeftDriveMotorId,
- kFrontLeftEncoderId,
- kFrontLeftEncoderOffset,
- kFrontLeftXPos,
- kFrontLeftYPos,
- kInvertLeftSide,
- kFrontLeftSteerMotorInverted,
- kFrontLeftCANcoderInverted);
- public static final SwerveModuleConstants FrontRight =
- ConstantCreator.createModuleConstants(
- kFrontRightSteerMotorId,
- kFrontRightDriveMotorId,
- kFrontRightEncoderId,
- kFrontRightEncoderOffset,
- kFrontRightXPos,
- kFrontRightYPos,
- kInvertRightSide,
- kFrontRightSteerMotorInverted,
- kFrontRightCANcoderInverted);
- public static final SwerveModuleConstants BackLeft =
- ConstantCreator.createModuleConstants(
- kBackLeftSteerMotorId,
- kBackLeftDriveMotorId,
- kBackLeftEncoderId,
- kBackLeftEncoderOffset,
- kBackLeftXPos,
- kBackLeftYPos,
- kInvertLeftSide,
- kBackLeftSteerMotorInverted,
- kBackLeftCANcoderInverted);
- public static final SwerveModuleConstants BackRight =
- ConstantCreator.createModuleConstants(
- kBackRightSteerMotorId,
- kBackRightDriveMotorId,
- kBackRightEncoderId,
- kBackRightEncoderOffset,
- kBackRightXPos,
- kBackRightYPos,
- kInvertRightSide,
- kBackRightSteerMotorInverted,
- kBackRightCANcoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ FrontLeft =
+ ConstantCreator.createModuleConstants(
+ kFrontLeftSteerMotorId,
+ kFrontLeftDriveMotorId,
+ kFrontLeftEncoderId,
+ kFrontLeftEncoderOffset,
+ kFrontLeftXPos,
+ kFrontLeftYPos,
+ kInvertLeftSide,
+ kFrontLeftSteerMotorInverted,
+ kFrontLeftCANcoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ FrontRight =
+ ConstantCreator.createModuleConstants(
+ kFrontRightSteerMotorId,
+ kFrontRightDriveMotorId,
+ kFrontRightEncoderId,
+ kFrontRightEncoderOffset,
+ kFrontRightXPos,
+ kFrontRightYPos,
+ kInvertRightSide,
+ kFrontRightSteerMotorInverted,
+ kFrontRightCANcoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ BackLeft =
+ ConstantCreator.createModuleConstants(
+ kBackLeftSteerMotorId,
+ kBackLeftDriveMotorId,
+ kBackLeftEncoderId,
+ kBackLeftEncoderOffset,
+ kBackLeftXPos,
+ kBackLeftYPos,
+ kInvertLeftSide,
+ kBackLeftSteerMotorInverted,
+ kBackLeftCANcoderInverted);
+ public static final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ BackRight =
+ ConstantCreator.createModuleConstants(
+ kBackRightSteerMotorId,
+ kBackRightDriveMotorId,
+ kBackRightEncoderId,
+ kBackRightEncoderOffset,
+ kBackRightXPos,
+ kBackRightYPos,
+ kInvertRightSide,
+ kBackRightSteerMotorInverted,
+ kBackRightCANcoderInverted);
+
+ // PathPlanner config constants
+ public static final double WHEEL_COF = 1.19;
+ public static final Mass ROBOT_MASS = Pounds.of(115.0);
+ public static final double ROBOT_MOI = 2.0; // TODO: find more accurate value
+
+ public static final RobotConfig PP_CONFIG =
+ new RobotConfig(
+ DriveConstants.ROBOT_MASS.in(Kilograms),
+ DriveConstants.ROBOT_MOI,
+ new ModuleConfig(
+ FrontLeft.WheelRadius,
+ kSpeedAt12Volts.in(MetersPerSecond),
+ DriveConstants.WHEEL_COF,
+ DCMotor.getKrakenX60Foc(1).withReduction(FrontLeft.DriveMotorGearRatio),
+ FrontLeft.SlipCurrent,
+ 1),
+ Drive.getModuleTranslations());
+
+ public static final DriveTrainSimulationConfig MAPLE_SIM_CONFIG =
+ DriveTrainSimulationConfig.Default()
+ .withRobotMass(DriveConstants.ROBOT_MASS)
+ .withCustomModuleTranslations(Drive.getModuleTranslations())
+ .withGyro(COTS.ofPigeon2())
+ .withSwerveModule(
+ () ->
+ new SwerveModuleSimulation(
+ new SwerveModuleSimulationConfig(
+ DCMotor.getKrakenX60(1),
+ DCMotor.getFalcon500(1),
+ FrontLeft.DriveMotorGearRatio,
+ FrontLeft.SteerMotorGearRatio,
+ Volts.of(FrontLeft.DriveFrictionVoltage),
+ Volts.of(FrontLeft.SteerFrictionVoltage),
+ Meters.of(FrontLeft.WheelRadius),
+ KilogramSquareMeters.of(FrontLeft.SteerInertia),
+ DriveConstants.WHEEL_COF)));
}
public class VisionConstants {
// AprilTag layout
- public static AprilTagFieldLayout APRILTAG_LAYOUT =
- AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+ public static AprilTagFieldLayout APRILTAG_LAYOUT;
// Camera names, must match names configured on coprocessor
public static String CAM_0_NAME = "camera_0";
@@ -282,9 +352,9 @@ public class VisionConstants {
// Robot to camera transforms
// (Not used by Limelight, configure in web UI instead)
public static Transform3d robotToCamera0 =
- new Transform3d(0.2, 0.0, 0.2, new Rotation3d(0.0, -0.4, 0.0));
+ new Transform3d(0.2, 0.0, 0.2, new Rotation3d(0.0, -0.4, 0.0)); // facing forward
public static Transform3d robotToCamera1 =
- new Transform3d(-0.2, 0.0, 0.2, new Rotation3d(0.0, -0.4, Math.PI));
+ new Transform3d(-0.2, 0.0, 0.2, new Rotation3d(0.0, -0.4, Math.PI)); // facing backward
// Basic filtering thresholds
public static double maxAmbiguity = 0.3;
@@ -292,7 +362,7 @@ public class VisionConstants {
// Standard deviation baselines, for 1 meter distance and 1 tag
// (Adjusted automatically based on distance and # of tags)
- public static double linearStdDevBaseline = 0.02; // Meters
+ public static double linearStdDevBaseline = 0.08; // Meters
public static double angularStdDevBaseline = 0.06; // Radians
// Standard deviation multipliers for each camera
@@ -310,6 +380,22 @@ public class VisionConstants {
}
public static class ShooterConstants {
+ public static enum ShooterState {
+ IDLE(RPM.of(0), RPM.of(0)),
+ SPEAKER(RPM.of(3000), RPM.of(5000)),
+ AMP(RPM.of(-1200), RPM.of(-1200)),
+ SHUTTLE(RPM.of(2900), RPM.of(2900)),
+ EXTAKE(RPM.of(1500), RPM.of(1500));
+
+ public AngularVelocity topRPM;
+ public AngularVelocity bottomRPM;
+
+ private ShooterState(AngularVelocity topRPM, AngularVelocity bottomRPM) {
+ this.topRPM = topRPM;
+ this.bottomRPM = bottomRPM;
+ }
+ }
+
public static final int SHOOTER_TOP_MOTOR_ID = 2;
public static final int SHOOTER_BOTTOM_MOTOR_ID = 3;
@@ -321,17 +407,6 @@ public static class ShooterConstants {
public static final LinearVelocity ShooterSpeed =
FeetPerSecond.of(28.06308713961776); // in ft/s
- public static final AngularVelocity SPK_TOP_RPM = RPM.of(3000);
- public static final AngularVelocity SPK_BOTTOM_RPM = RPM.of(5000);
-
- public static final AngularVelocity SHUTTLING_TOP_RPM = RPM.of(2900);
- public static final AngularVelocity SHUTTLING_BOTTOM_RPM = RPM.of(2900);
-
- public static final AngularVelocity AMP_TOP_RPM = RPM.of(-1200);
- public static final AngularVelocity AMP_BOTTOM_RPM = RPM.of(-1200);
-
- public static final AngularVelocity SHOOTER_OUTTAKE_RPM = RPM.of(1500);
-
public static final AngularVelocity SHOOTER_MAX_RPM = RPM.of(6784);
// TODO: tune further: get both faster
@@ -346,6 +421,27 @@ public static class ShooterConstants {
}
public static class PivotConstants {
+ public static enum PivotState {
+ INTAKE(Rotations.of(22.5)),
+ INTAKE_SIM(Rotations.of(-0.1)),
+ SUBWOOFER(Rotations.of(5.0947265625)),
+ SUBWOOFER_SIM(Rotations.of(-0.166)),
+ AMP(Rotations.of(99)),
+ AMP_SIM(Rotations.of(0.31)),
+ SHUTTLE(Rotations.of(14.853271484375)),
+ SHUTTLE_SIM(Rotations.of(-0.02)),
+ EXTAKE(Rotations.of(22.5)),
+ EXTAKE_SIM(Rotations.of(-0.1)),
+ MANUAL_OVERRIDE(Rotations.of(0)),
+ AIMING(Rotations.of(0));
+
+ public Angle angle;
+
+ private PivotState(Angle pivotAngle) {
+ this.angle = pivotAngle;
+ }
+ }
+
public static final double PIVOT_GEAR_RATIO = 31.25;
public static final double PIVOT_ERROR_THRESHOLD = 0.2;
@@ -353,48 +449,61 @@ public static class PivotConstants {
public static final int PIVOT_MAIN_MOTOR_ID = 1;
public static final int PIVOT_FOLLOWER_MOTOR_ID = 5;
- public static final double PIVOT_kV = 9.0;
- public static final double PIVOT_kP = 12.0;
- public static final double PIVOT_kI = 4.0;
- public static final double PIVOT_kD = 2.0;
+ public static final double PIVOT_kV = 0.0;
+ public static final double PIVOT_kP = 8.0;
+ public static final double PIVOT_kI = 0.0;
+ public static final double PIVOT_kD = 0.01;
+ public static final double PIVOT_kG = 0.001;
// motion magic constraints
public static final double PIVOT_CRUISE_VELOCITY = 2500;
public static final double PIVOT_ACCELERATION = 2000;
public static final double PIVOT_JERK = 50000;
- public static final Angle PIVOT_STOW_POS = Rotations.of(-22.5);
- public static final Angle PIVOT_AMP_POS = Rotations.of(-99); // found via empirical testing
-
- public static final Angle PIVOT_SUB_POS = Rotations.of(-5.0947265625);
-
- public static final Angle PIVOT_SHUTTLING_POS = Rotations.of(-14.853271484375);
-
- public static final Angle PIVOT_READY_CLIMB_POS = Rotations.of(-29.65771484375);
-
- public static final Angle PIVOT_TRAP_POS = Rotations.of(-115);
-
- // TODO: Change these values
- public static final Angle PIVOT_CLIMB_UP_POS = Rotations.of(-49.61279296875);
- public static final Angle PIVOT_CLIMB_DOWN_POS = Rotations.of(-14.5546875);
-
// maps Z distances to april tag (meters) with pivot angles (rotations)
- public static final InterpolatingDoubleTreeMap PIVOT_ANGLES_MAP =
+ // these won't work now, since Flex's Limelight was recalibrated
+ public static final InterpolatingDoubleTreeMap PIVOT_ANGLES_MAP_REAL =
InterpolatingDoubleTreeMap.ofEntries(
- Map.entry(1.1, PIVOT_SUB_POS.in(Rotations)),
+ Map.entry(1.1, PivotState.INTAKE.angle.in(Rotations)),
Map.entry(1.43, 21.68115234375),
Map.entry(1.84, 16.1193359375),
Map.entry(2.31, 12.78369140625),
Map.entry(2.76, 10.56689453125),
Map.entry(2.82, 10.32265625),
Map.entry(3.02, 9.54326171875),
- Map.entry(3.46, 8.09541015625),
- Map.entry(4.00, 7.0));
+ Map.entry(3.46, 8.09541015625));
+
+ public static final InterpolatingDoubleTreeMap
+ PIVOT_ANGLES_MAP_SIM = // maps distance from speaker to angle for pivot (in rotations)
+ InterpolatingDoubleTreeMap.ofEntries(
+ Map.entry(1.176, PivotState.INTAKE_SIM.angle.in(Rotations)),
+ Map.entry(1.5, -0.138044),
+ Map.entry(2.0, -0.113583),
+ Map.entry(2.533, -0.092616),
+ Map.entry(3.0, -0.082133),
+ Map.entry(3.5, -0.075144),
+ Map.entry(4.0, -0.07165),
+ Map.entry(4.5, -0.064661),
+ Map.entry(5.384, -0.057670));
}
public static class IndexConstants {
public static final int INDEX_MOTOR_ID = 4;
public static final double INDEX_RUN_PCT = .28;
public static final double INDEX_AMP_PCT = .30;
+
+ public static enum IndexState {
+ IDLE(0.0),
+ SPEAKER(0.28),
+ INTAKE(0.28),
+ EXTAKE(0.28),
+ AMP(0.30);
+
+ public double pct = 0.0;
+
+ private IndexState(double pct) {
+ this.pct = pct;
+ }
+ }
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/Main.java b/FlexAdvKit2025/src/main/java/frc/robot/Main.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/Main.java
rename to FlexAdvKit2025/src/main/java/frc/robot/Main.java
diff --git a/AdvKit2024/src/main/java/frc/robot/Robot.java b/FlexAdvKit2025/src/main/java/frc/robot/Robot.java
similarity index 90%
rename from AdvKit2024/src/main/java/frc/robot/Robot.java
rename to FlexAdvKit2025/src/main/java/frc/robot/Robot.java
index c74e6a7..7f724dd 100644
--- a/AdvKit2024/src/main/java/frc/robot/Robot.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/Robot.java
@@ -13,10 +13,13 @@
package frc.robot;
+import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.wpilibj.Threads;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
@@ -35,6 +38,14 @@ public class Robot extends LoggedRobot {
private RobotContainer robotContainer;
public Robot() {
+ try {
+ APRILTAG_LAYOUT =
+ new AprilTagFieldLayout(
+ "C:\\Users\\imren\\OfflineDocs\\GitHub\\Robotics\\2024-Wiggler\\FlexAdvKit2025\\2025-reefscape.json");
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
// Record metadata
Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
@@ -57,14 +68,14 @@ public Robot() {
switch (Constants.currentMode) {
case REAL:
// Running on a real robot, log to a USB stick ("/U/logs")
- Logger.addDataReceiver(new WPILOGWriter());
+ // Logger.addDataReceiver(new WPILOGWriter());
Logger.addDataReceiver(new NT4Publisher());
break;
case SIM:
// Running a physics simulator, log to NT
Logger.addDataReceiver(new NT4Publisher());
- Logger.addDataReceiver(new WPILOGWriter());
+ // Logger.addDataReceiver(new WPILOGWriter());
break;
case REPLAY:
@@ -160,7 +171,7 @@ public void simulationInit() {}
/** This function is called periodically whilst in simulation. */
@Override
public void simulationPeriodic() {
- Arena2024Crescendo.getInstance().simulationPeriodic();
+ Arena2025Reefscape.getInstance().simulationPeriodic();
robotContainer.displaySimFieldToAdvantageScope();
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/RobotContainer.java b/FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java
similarity index 63%
rename from AdvKit2024/src/main/java/frc/robot/RobotContainer.java
rename to FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java
index 885cd35..5199112 100644
--- a/AdvKit2024/src/main/java/frc/robot/RobotContainer.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java
@@ -15,7 +15,6 @@
import static frc.robot.Constants.VisionConstants.*;
-import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.GenericHID;
@@ -23,9 +22,16 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.Constants.DriveConstants;
+import frc.robot.Constants.IndexConstants.IndexState;
+import frc.robot.Constants.Mode;
+import frc.robot.Constants.PivotConstants.PivotState;
+import frc.robot.Constants.ShooterConstants.ShooterState;
+import frc.robot.commands.Autos;
import frc.robot.commands.DriveCommands;
+import frc.robot.commands.NoteCommands;
import frc.robot.subsystems.drive.Drive;
import frc.robot.subsystems.drive.gyro.GyroIO;
import frc.robot.subsystems.drive.gyro.GyroIOPigeon2;
@@ -38,17 +44,14 @@
import frc.robot.subsystems.index.IndexIOSim;
import frc.robot.subsystems.index.IndexIOSparkFlex;
import frc.robot.subsystems.intake.Intake;
-import frc.robot.subsystems.intake.Intake.IntakeState;
import frc.robot.subsystems.intake.IntakeIO;
import frc.robot.subsystems.intake.IntakeIOSim;
-import frc.robot.subsystems.intake.IntakeIOTalonFX;
+import frc.robot.subsystems.intake.IntakeIOSparkFlex;
import frc.robot.subsystems.pivot.Pivot;
-import frc.robot.subsystems.pivot.Pivot.PivotState;
import frc.robot.subsystems.pivot.PivotIO;
import frc.robot.subsystems.pivot.PivotIOSim;
import frc.robot.subsystems.pivot.PivotIOTalonFX;
import frc.robot.subsystems.shooter.Shooter;
-import frc.robot.subsystems.shooter.Shooter.ShooterState;
import frc.robot.subsystems.shooter.ShooterIO;
import frc.robot.subsystems.shooter.ShooterIOSim;
import frc.robot.subsystems.shooter.ShooterIOSparkFlex;
@@ -57,7 +60,8 @@
import frc.robot.subsystems.vision.VisionIOLimelight;
import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
-import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
@@ -78,6 +82,9 @@ public class RobotContainer {
private SwerveDriveSimulation driveSimulation = null;
+ private final Autos autos;
+ private final NoteCommands noteCommands;
+
// Controller
private final CommandXboxController controller = new CommandXboxController(0);
@@ -96,11 +103,9 @@ public RobotContainer() {
new ModuleIOTalonFXReal(DriveConstants.FrontRight),
new ModuleIOTalonFXReal(DriveConstants.BackLeft),
new ModuleIOTalonFXReal(DriveConstants.BackRight));
- vision =
- new Vision(
- drive::addVisionMeasurement, new VisionIOLimelight(CAM_0_NAME, drive::getRotation));
+ vision = new Vision(drive, new VisionIOLimelight(CAM_1_NAME, drive::getRotation));
- intake = new Intake(new IntakeIOTalonFX());
+ intake = new Intake(new IntakeIOSparkFlex());
shooter = new Shooter(new ShooterIOSparkFlex());
pivot = new Pivot(new PivotIOTalonFX());
index = new Index(new IndexIOSparkFlex());
@@ -109,8 +114,9 @@ public RobotContainer() {
case SIM:
// Sim robot, instantiate physics sim IO implementations
driveSimulation =
- new SwerveDriveSimulation(Drive.MAPLE_SIM_CONFIG, new Pose2d(3, 1.5, new Rotation2d()));
- Arena2024Crescendo.getInstance().addDriveTrainSimulation(driveSimulation);
+ new SwerveDriveSimulation(
+ DriveConstants.MAPLE_SIM_CONFIG, new Pose2d(3, 1.5, new Rotation2d()));
+ Arena2025Reefscape.getInstance().addDriveTrainSimulation(driveSimulation);
drive =
new Drive(
new GyroIOSim(driveSimulation.getGyroSimulation()),
@@ -120,23 +126,29 @@ public RobotContainer() {
new ModuleIOTalonFXSim(DriveConstants.BackRight, driveSimulation.getModules()[3]));
vision =
new Vision(
- drive::addVisionMeasurement,
+ drive,
new VisionIOPhotonVisionSim(
- CAM_0_NAME, robotToCamera0, driveSimulation::getSimulatedDriveTrainPose));
+ CAM_1_NAME, robotToCamera1, driveSimulation::getSimulatedDriveTrainPose));
shooter = new Shooter(new ShooterIOSim());
- intake =
- new Intake(
- new IntakeIOSim(driveSimulation, () -> shooter.getState() != ShooterState.IDLE));
pivot = new Pivot(new PivotIOSim());
index =
new Index(
new IndexIOSim(
- intake.noteInIntake,
- driveSimulation::getSimulatedDriveTrainPose,
+ drive::getPose,
drive::getChassisSpeeds,
- pivot::getPivotAngle,
- Arena2024Crescendo.getInstance()));
+ pivot::getPosition,
+ Arena2025Reefscape.getInstance()));
+ intake =
+ new Intake(
+ new IntakeIOSim(
+ driveSimulation,
+ () -> {
+ return index.getIndexState() == IndexState.SPEAKER
+ || index.getIndexState() == IndexState.EXTAKE
+ || index.getIndexState() == IndexState.AMP;
+ }));
+ index.setNoteInIntake(intake.noteInIntake);
break;
default:
@@ -148,7 +160,7 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
- vision = new Vision(drive::addVisionMeasurement, new VisionIO() {});
+ vision = new Vision(drive, new VisionIO() {});
intake = new Intake(new IntakeIO() {});
shooter = new Shooter(new ShooterIO() {});
pivot = new Pivot(new PivotIO() {});
@@ -156,24 +168,28 @@ public RobotContainer() {
break;
}
- // Set up auto routines
- autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
+ autos = new Autos(drive, driveSimulation, intake, shooter, index, pivot);
+ noteCommands = new NoteCommands(shooter, pivot, intake, index);
+ // Set up auto routines
+ autoChooser = new LoggedDashboardChooser<>("Auto Choices");
+ autoChooser.addOption("Three Piece", autos.ThreePieceAuto());
// Set up SysId routines
autoChooser.addOption(
"Drive Wheel Radius Characterization", DriveCommands.wheelRadiusCharacterization(drive));
autoChooser.addOption(
"Drive Simple FF Characterization", DriveCommands.feedforwardCharacterization(drive));
+
+ // TODO: note that to switch to steer and rotation, runCharacterization should be modified in
+ // Module.java
autoChooser.addOption(
- "Drive SysId (Quasistatic Forward)",
- drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
+ "SysId (Quasistatic Forward)", drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
autoChooser.addOption(
- "Drive SysId (Quasistatic Reverse)",
- drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
+ "SysId (Quasistatic Reverse)", drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
autoChooser.addOption(
- "Drive SysId (Dynamic Forward)", drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
+ "SysId (Dynamic Forward)", drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
autoChooser.addOption(
- "Drive SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+ "SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
// Configure the button bindings
configureButtonBindings();
@@ -206,37 +222,53 @@ private void configureButtonBindings() {
new Pose2d(drive.getPose().getTranslation(), new Rotation2d())); // zero gyro
controller.b().onTrue(Commands.runOnce(resetGyro, drive).ignoringDisable(true));
- // Center in-place on apriltag target
- controller.rightBumper().whileTrue(DriveCommands.centerOnTarget(drive, vision));
+ // Center in-place on apriltag target and adjust pivot angle based on distance from speaker
+ controller
+ .rightBumper()
+ .whileTrue(
+ Commands.parallel(
+ DriveCommands.centerOnSpeakerTag(
+ drive, () -> -controller.getLeftY(), () -> -controller.getLeftX()),
+ pivot.angleToSpeakerCommand(drive::getPose)));
// run intake mechanism while held
controller
.rightTrigger()
- .whileTrue(
- Commands.parallel(
- shooter.setVelocityState(ShooterState.IDLE),
- pivot.setPositionState(PivotState.INTAKE),
- intake.setVelocityState(IntakeState.INTAKE),
- index.setVelocityState(IndexIO.IndexState.INTAKE)))
- .onFalse(
- Commands.parallel(
- intake.setVelocityState(IntakeState.IDLE),
- index.setVelocityState(IndexIO.IndexState.IDLE)));
- // shut off intake mechanism when note enters intake
- intake.noteInIntake.onTrue(
- Commands.parallel(
- intake.setVelocityState(IntakeState.IDLE),
- index.setVelocityState(IndexIO.IndexState.IDLE)));
+ .whileTrue(noteCommands.intakeNoteCmd())
+ .onFalse(noteCommands.turnOffIntakeCmd());
+ // shut off intake mechanism automatically when note enters intake
+ intake.noteInIntake.and(RobotModeTriggers.teleop()).whileTrue(noteCommands.turnOffIntakeCmd());
+
+ // manually override pivot angle
+ controller.povUp().whileTrue(pivot.setPivotPctCommand(0.05));
+
+ controller.povDown().whileTrue(pivot.setPivotPctCommand(-0.05));
- // manual override pivot angle
+ // extake thru intake
+ controller
+ .povLeft()
+ .whileTrue(noteCommands.extakeThruIntakeCmd())
+ .onFalse(noteCommands.extakeThruIntakeCmdEnd());
+
+ // extake thru shooter
+ controller
+ .povRight()
+ .whileTrue(noteCommands.extakeThruShooterCmd())
+ .onFalse(noteCommands.extakeThruShooterCmdEnd());
- // idle shooter
- controller.y().onTrue(shooter.setVelocityState(ShooterState.IDLE));
+ // turn off shooter manually
+ controller.y().onTrue(shooter.setState(ShooterState.IDLE));
// move to preset pivot positions
- controller.a().onTrue(pivot.setPositionState(PivotState.SUBWOOFER));
- controller.leftBumper().onTrue(pivot.setPositionState(PivotState.AMP));
- controller.x().onTrue(pivot.setPositionState(PivotState.SHUTTLE));
+ if (Constants.currentMode == Mode.SIM) {
+ controller.a().onTrue(pivot.setState(PivotState.SUBWOOFER_SIM));
+ controller.leftBumper().onTrue(pivot.setState(PivotState.AMP_SIM));
+ controller.x().onTrue(pivot.setState(PivotState.SHUTTLE_SIM));
+ } else {
+ controller.a().onTrue(pivot.setState(PivotState.SUBWOOFER));
+ controller.leftBumper().onTrue(pivot.setState(PivotState.AMP));
+ controller.x().onTrue(pivot.setState(PivotState.SHUTTLE));
+ }
controller
.start()
@@ -246,20 +278,7 @@ private void configureButtonBindings() {
driveSimulation.setSimulationWorldPose(new Pose2d(3, 1.5, new Rotation2d()))));
// hold to rev shooter, let go to shoot
- controller
- .leftTrigger()
- .onTrue(shooter.setVelocityState(ShooterState.SPEAKER))
- .onFalse(
- index
- .setVelocityState(IndexIO.IndexState.SHOOT)
- .andThen(Commands.waitSeconds(1.0)) // account for delays in shooting
- .andThen(
- index
- .setVelocityState(IndexIO.IndexState.IDLE)
- .alongWith(shooter.setVelocityState(ShooterState.IDLE))));
-
- // controller.povLeft()
- // controller.povRight()
+ controller.leftTrigger().whileTrue(noteCommands.shootCmd()).onFalse(noteCommands.shootCmdEnd());
}
/**
@@ -275,8 +294,8 @@ public void resetSimulationField() {
if (Constants.currentMode != Constants.Mode.SIM) return;
driveSimulation.setSimulationWorldPose(new Pose2d(3, 1.5, new Rotation2d()));
- System.out.println("Resetting simulation field");
- Arena2024Crescendo.getInstance().resetFieldForAuto();
+ // System.out.println("Resetting simulation field");
+ Arena2025Reefscape.getInstance().resetFieldForAuto();
}
public void displaySimFieldToAdvantageScope() {
@@ -285,6 +304,15 @@ public void displaySimFieldToAdvantageScope() {
Logger.recordOutput(
"FieldSimulation/RobotPosition", driveSimulation.getSimulatedDriveTrainPose());
Logger.recordOutput(
- "FieldSimulation/Notes", Arena2024Crescendo.getInstance().getGamePiecesArrayByType("Note"));
+ "FieldSimulation/Algae",
+ Arena2025Reefscape.getInstance().getGamePiecesArrayByType("Algae"));
+ Logger.recordOutput(
+ "FieldSimulation/Coral",
+ Arena2025Reefscape.getInstance().getGamePiecesArrayByType("Coral"));
+
+ Logger.recordOutput(
+ "FieldSimulation/StackedAlgae", ReefscapeCoralAlgaeStack.getStackedAlgaePoses());
+ Logger.recordOutput(
+ "FieldSimulation/StackedCoral", ReefscapeCoralAlgaeStack.getStackedCoralPoses());
}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java
new file mode 100644
index 0000000..f3a3559
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java
@@ -0,0 +1,119 @@
+package frc.robot.commands;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.pathfinding.Pathfinding;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants.DriveConstants;
+import frc.robot.Constants.IndexConstants.IndexState;
+import frc.robot.Constants.ShooterConstants.ShooterState;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.subsystems.index.Index;
+import frc.robot.subsystems.intake.Intake;
+import frc.robot.subsystems.pivot.Pivot;
+import frc.robot.subsystems.shooter.Shooter;
+import frc.robot.util.LocalADStarAK;
+import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
+import org.littletonrobotics.junction.Logger;
+
+public class Autos {
+ private final Drive drive;
+ private final Intake intake;
+ private final Shooter shooter;
+ private final Index index;
+ private final Pivot pivot;
+ private final SwerveDriveSimulation drivesim;
+
+ Command forwardCmd;
+ NoteCommands noteCommands;
+
+ public Autos(
+ Drive drive,
+ SwerveDriveSimulation driveSim,
+ Intake intake,
+ Shooter shooter,
+ Index index,
+ Pivot pivot) {
+ this.drive = drive;
+ this.intake = intake;
+ this.shooter = shooter;
+ this.index = index;
+ this.pivot = pivot;
+ this.drivesim = driveSim;
+
+ // configure PathPlanner
+ AutoBuilder.configure(
+ drive::getPose,
+ pose -> {
+ drive.setPose(pose);
+ if (driveSim != null) driveSim.setSimulationWorldPose(pose);
+ },
+ drive::getChassisSpeeds,
+ drive::runVelocity,
+ new PPHolonomicDriveController(
+ new PIDConstants(10.0, 0.0, 0.0), new PIDConstants(10.0, 0.0, 0.0)),
+ DriveConstants.PP_CONFIG,
+ () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+ drive);
+ Pathfinding.setPathfinder(new LocalADStarAK());
+ PathPlannerLogging.setLogActivePathCallback(
+ (activePath) -> {
+ Logger.recordOutput(
+ "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
+ });
+ PathPlannerLogging.setLogTargetPoseCallback(
+ (targetPose) -> {
+ Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
+ });
+
+ noteCommands = new NoteCommands(shooter, pivot, intake, index);
+ }
+
+ public Command ThreePieceAuto() {
+ PathPlannerPath[] pathSections = new PathPlannerPath[3];
+ try {
+ for (int i = 0; i < 3; i++) {
+ pathSections[i] = PathPlannerPath.fromChoreoTrajectory("3Piece", i);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return Commands.sequence(
+ drive.runOnce(
+ () -> {
+ drive.setPose(pathSections[0].getStartingDifferentialPose());
+ drivesim.setSimulationWorldPose(pathSections[0].getStartingDifferentialPose());
+ }),
+ // aimAndShoot(),
+ followPathAndIntake(pathSections[0]),
+ aimAndShoot(),
+ followPathAndIntake(pathSections[1]),
+ aimAndShoot(),
+ followPathAndIntake(pathSections[2]),
+ aimAndShoot());
+ }
+
+ private Command aimAndShoot() {
+ return Commands.parallel(
+ shooter.setState(ShooterState.SPEAKER),
+ pivot.angleToSpeakerCommand(drive::getPose),
+ DriveCommands.centerOnSpeakerTag(drive, () -> 0.0, () -> 0.0))
+ .until(() -> shooter.atSpeed.and(pivot.atAngle).getAsBoolean())
+ .andThen(index.setState(IndexState.SPEAKER));
+ }
+
+ private Command followPathAndIntake(PathPlannerPath path) {
+ return Commands.sequence(
+ shooter.setState(ShooterState.IDLE),
+ noteCommands.intakeNoteCmd(),
+ AutoBuilder.followPath(path),
+ noteCommands.turnOffIntakeCmd());
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/commands/DriveCommands.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/DriveCommands.java
similarity index 93%
rename from AdvKit2024/src/main/java/frc/robot/commands/DriveCommands.java
rename to FlexAdvKit2025/src/main/java/frc/robot/commands/DriveCommands.java
index 332e4a8..296bd18 100644
--- a/AdvKit2024/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/commands/DriveCommands.java
@@ -13,6 +13,8 @@
package frc.robot.commands;
+import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT;
+
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.filter.SlewRateLimiter;
@@ -29,13 +31,13 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.subsystems.drive.Drive;
-import frc.robot.subsystems.vision.Vision;
import java.text.DecimalFormat;
import java.text.NumberFormat;
import java.util.LinkedList;
import java.util.List;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
+import org.ironmaple.utils.FieldMirroringUtils;
public class DriveCommands {
private static final double DEADBAND = 0.1;
@@ -159,8 +161,25 @@ public static Command joystickDriveAtAngle(
.beforeStarting(() -> angleController.reset(drive.getRotation().getRadians()));
}
- public static Command centerOnTarget(Drive drive, Vision vision) {
- return joystickDriveAtAngle(drive, () -> 0.0, () -> 0.0, () -> vision.getTargetX(0));
+ public static Command centerOnSpeakerTag(
+ Drive drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier) {
+ return Commands.runOnce(() -> drive.isAiming = true)
+ .andThen(
+ joystickDriveAtAngle(
+ drive,
+ xSupplier,
+ ySupplier,
+ () ->
+ drive
+ .getPose()
+ .getTranslation()
+ .minus(
+ APRILTAG_LAYOUT
+ .getTagPose(FieldMirroringUtils.isSidePresentedAsRed() ? 4 : 7)
+ .get()
+ .toPose2d()
+ .getTranslation())
+ .getAngle()));
}
/**
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java
new file mode 100644
index 0000000..b27c177
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java
@@ -0,0 +1,93 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants;
+import frc.robot.Constants.IndexConstants.IndexState;
+import frc.robot.Constants.IntakeConstants.IntakeState;
+import frc.robot.Constants.Mode;
+import frc.robot.Constants.PivotConstants.PivotState;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Constants.ShooterConstants.ShooterState;
+import frc.robot.subsystems.index.Index;
+import frc.robot.subsystems.intake.Intake;
+import frc.robot.subsystems.pivot.Pivot;
+import frc.robot.subsystems.shooter.Shooter;
+import java.util.Map;
+
+public class NoteCommands {
+ private final Shooter shooter;
+ private final Pivot pivot;
+ private final Intake intake;
+ private final Index index;
+
+ public NoteCommands(Shooter shooter, Pivot pivot, Intake intake, Index index) {
+ this.shooter = shooter;
+ this.pivot = pivot;
+ this.intake = intake;
+ this.index = index;
+ }
+
+ public Command intakeNoteCmd() {
+ return Commands.parallel(
+ shooter.setState(ShooterState.IDLE),
+ pivot.setState(
+ Constants.currentMode == Mode.SIM ? PivotState.INTAKE_SIM : PivotState.INTAKE),
+ intake.setState(IntakeState.INTAKE),
+ index.setState(IndexState.INTAKE));
+ }
+
+ public Command turnOffIntakeCmd() {
+ return Commands.sequence(intake.setState(IntakeState.IDLE), index.setState(IndexState.IDLE));
+ }
+
+ public Command extakeThruIntakeCmd() {
+ return Commands.sequence(
+ pivot.setState(
+ Constants.currentMode == Mode.SIM ? PivotState.EXTAKE_SIM : PivotState.EXTAKE),
+ intake.setState(IntakeState.EXTAKE),
+ index.setState(IndexState.EXTAKE));
+ }
+
+ public Command extakeThruIntakeCmdEnd() {
+ return Commands.parallel(intake.setState(IntakeState.IDLE), index.setState(IndexState.IDLE));
+ }
+
+ public Command extakeThruShooterCmd() {
+ return Commands.sequence(
+ shooter.setState(ShooterConstants.ShooterState.EXTAKE), index.setState(IndexState.EXTAKE));
+ }
+
+ public Command extakeThruShooterCmdEnd() {
+ return Commands.parallel(
+ shooter.setState(ShooterConstants.ShooterState.IDLE), index.setState(IndexState.IDLE));
+ }
+
+ public Command shootCmd() {
+ return Commands.select(
+ Map.ofEntries(
+ Map.entry(PivotState.AMP, shooter.setState(ShooterState.AMP)),
+ Map.entry(PivotState.AMP_SIM, shooter.setState(ShooterState.AMP)),
+ Map.entry(PivotState.SHUTTLE, shooter.setState(ShooterState.SHUTTLE)),
+ Map.entry(PivotState.SHUTTLE_SIM, shooter.setState(ShooterState.SHUTTLE)),
+ Map.entry(PivotState.SUBWOOFER, shooter.setState(ShooterState.SPEAKER)),
+ Map.entry(PivotState.SUBWOOFER_SIM, shooter.setState(ShooterState.SPEAKER)),
+ Map.entry(PivotState.INTAKE, shooter.setState(ShooterState.EXTAKE)),
+ Map.entry(PivotState.INTAKE_SIM, shooter.setState(ShooterState.EXTAKE)),
+ Map.entry(PivotState.EXTAKE, shooter.setState(ShooterState.EXTAKE)),
+ Map.entry(PivotState.MANUAL_OVERRIDE, shooter.setState(ShooterState.SPEAKER)),
+ Map.entry(PivotState.AIMING, shooter.setState(ShooterState.SPEAKER))),
+ pivot::getState);
+ }
+
+ public Command shootCmdEnd() {
+ return Commands.sequence(
+ index.setState(
+ (pivot.getState() == PivotState.AMP || pivot.getState() == PivotState.AMP_SIM)
+ ? IndexState.AMP
+ : IndexState.SPEAKER),
+ Commands.waitSeconds(1.0),
+ index.setState(IndexState.IDLE),
+ shooter.setState(ShooterState.IDLE));
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/Drive.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java
similarity index 77%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/Drive.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java
index f0ec604..8b2efe6 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -15,18 +15,13 @@
import static edu.wpi.first.units.Units.*;
+import choreo.trajectory.SwerveSample;
import com.ctre.phoenix6.CANBus;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.config.ModuleConfig;
-import com.pathplanner.lib.config.PIDConstants;
-import com.pathplanner.lib.config.RobotConfig;
-import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-import com.pathplanner.lib.pathfinding.Pathfinding;
-import com.pathplanner.lib.util.PathPlannerLogging;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -38,14 +33,12 @@
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.units.measure.Mass;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.Constants;
import frc.robot.Constants.DriveConstants;
@@ -54,16 +47,13 @@
import frc.robot.subsystems.drive.gyro.GyroIOInputsAutoLogged;
import frc.robot.subsystems.drive.module.Module;
import frc.robot.subsystems.drive.module.ModuleIO;
-import frc.robot.util.LocalADStarAK;
+import frc.robot.subsystems.vision.Vision.VisionConsumer;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
-import org.ironmaple.simulation.drivesims.COTS;
-import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
-import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
-public class Drive extends SubsystemBase {
+public class Drive extends SubsystemBase implements VisionConsumer {
// TunerConstants doesn't include these constants, so they are declared locally
public static final double ODOMETRY_FREQUENCY =
new CANBus(DriveConstants.DrivetrainConstants.CANBusName).isNetworkFD() ? 250.0 : 100.0;
@@ -76,42 +66,6 @@ public class Drive extends SubsystemBase {
Math.hypot(DriveConstants.BackLeft.LocationX, DriveConstants.BackLeft.LocationY),
Math.hypot(DriveConstants.BackRight.LocationX, DriveConstants.BackRight.LocationY)));
- // PathPlanner config constants
- private static final Mass ROBOT_MASS = Pounds.of(115.0);
- private static final double ROBOT_MOI = 2.0; // TODO: find more accurate value
- private static final double WHEEL_COF = 1.19;
- private static final RobotConfig PP_CONFIG =
- new RobotConfig(
- ROBOT_MASS.in(Kilograms),
- ROBOT_MOI,
- new ModuleConfig(
- DriveConstants.FrontLeft.WheelRadius,
- DriveConstants.kSpeedAt12Volts.in(MetersPerSecond),
- WHEEL_COF,
- DCMotor.getKrakenX60Foc(1)
- .withReduction(DriveConstants.FrontLeft.DriveMotorGearRatio),
- DriveConstants.FrontLeft.SlipCurrent,
- 1),
- getModuleTranslations());
-
- public static final DriveTrainSimulationConfig MAPLE_SIM_CONFIG =
- DriveTrainSimulationConfig.Default()
- .withRobotMass(ROBOT_MASS)
- .withCustomModuleTranslations(getModuleTranslations())
- .withGyro(COTS.ofPigeon2())
- .withSwerveModule(
- () ->
- new SwerveModuleSimulation(
- DCMotor.getKrakenX60(1),
- DCMotor.getFalcon500(1),
- DriveConstants.FrontLeft.DriveMotorGearRatio,
- DriveConstants.FrontLeft.SteerMotorGearRatio,
- Volts.of(DriveConstants.FrontLeft.DriveFrictionVoltage),
- Volts.of(DriveConstants.FrontLeft.SteerFrictionVoltage),
- Meters.of(DriveConstants.FrontLeft.WheelRadius),
- KilogramSquareMeters.of(DriveConstants.FrontLeft.SteerInertia),
- WHEEL_COF));
-
static final Lock odometryLock = new ReentrantLock();
private final GyroIO gyroIO;
private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
@@ -132,6 +86,13 @@ public class Drive extends SubsystemBase {
private SwerveDrivePoseEstimator poseEstimator =
new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, new Pose2d());
+ private final PIDController xControllerAuto = new PIDController(10.0, 0.0, 0.0);
+ private final PIDController yControllerAuto = new PIDController(10.0, 0.0, 0.0);
+ private final PIDController headingControllerAuto = new PIDController(7.5, 0.0, 0.0);
+
+ public boolean isAiming = false;
+ public Trigger isAimingTrigger;
+
public Drive(
GyroIO gyroIO,
ModuleIO flModuleIO,
@@ -150,38 +111,36 @@ public Drive(
// Start odometry thread
PhoenixOdometryThread.getInstance().start();
- // Configure AutoBuilder for PathPlanner
- AutoBuilder.configure(
- this::getPose,
- this::setPose,
- this::getChassisSpeeds,
- this::runVelocity,
- new PPHolonomicDriveController(
- new PIDConstants(5.0, 0.0, 0.0), new PIDConstants(5.0, 0.0, 0.0)),
- PP_CONFIG,
- () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
- this);
- Pathfinding.setPathfinder(new LocalADStarAK());
- PathPlannerLogging.setLogActivePathCallback(
- (activePath) -> {
- Logger.recordOutput(
- "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
- });
- PathPlannerLogging.setLogTargetPoseCallback(
- (targetPose) -> {
- Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
- });
+ headingControllerAuto.enableContinuousInput(-Math.PI, Math.PI);
// Configure SysId
sysId =
new SysIdRoutine(
new SysIdRoutine.Config(
- null,
- Volts.of(3.0),
+ Volts.of(0.5).per(Second),
+ Volts.of(1.0),
Seconds.of(7.0),
(state) -> Logger.recordOutput("Drive/SysIdState", state.toString())),
new SysIdRoutine.Mechanism(
(voltage) -> runCharacterization(voltage.in(Volts)), null, this));
+
+ // isAimingTrigger =
+ // new Trigger(
+ // () ->
+ // isAiming
+ // && MathUtil.isNear(
+ // this.getPose()
+ // .getTranslation()
+ // .minus(
+ // APRILTAG_LAYOUT
+ // .getTagPose(FieldMirroringUtils.isSidePresentedAsRed() ? 4 :
+ // 7)
+ // .get()
+ // .toPose2d()
+ // .getTranslation())
+ // .getAngle(),
+ // getPose().getRotation().getRadians(),
+ // 0.1));
}
@Override
@@ -206,7 +165,6 @@ public void periodic() {
Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {});
Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {});
}
-
// Update odometry
double[] sampleTimestamps =
modules[0].getOdometryTimestamps(); // All signals are sampled together
@@ -364,7 +322,8 @@ public void setPose(Pose2d pose) {
}
/** Adds a new timestamped vision measurement. */
- public void addVisionMeasurement(
+ @Override
+ public void accept(
Pose2d visionRobotPoseMeters,
double timestampSeconds,
Matrix visionMeasurementStdDevs) {
@@ -374,12 +333,14 @@ public void addVisionMeasurement(
/** Returns the maximum linear speed in meters per sec. */
public double getMaxLinearSpeedMetersPerSec() {
- return DriveConstants.kSpeedAt12Volts.in(MetersPerSecond);
+ // return DriveConstants.kSpeedAt12Volts.in(MetersPerSecond);
+ return 4.0;
}
/** Returns the maximum angular speed in radians per sec. */
public double getMaxAngularSpeedRadPerSec() {
- return getMaxLinearSpeedMetersPerSec() / DRIVE_BASE_RADIUS;
+ // return getMaxLinearSpeedMetersPerSec() / DRIVE_BASE_RADIUS;
+ return 2 * Math.PI;
}
/** Returns an array of module translations. */
@@ -391,4 +352,20 @@ public static Translation2d[] getModuleTranslations() {
new Translation2d(DriveConstants.BackRight.LocationX, DriveConstants.BackRight.LocationY)
};
}
+
+ public void followTrajectory(SwerveSample sample) {
+ // Get the current pose of the robot
+ Pose2d pose = getPose();
+
+ // Generate the next speeds for the robot
+ ChassisSpeeds speeds =
+ new ChassisSpeeds(
+ sample.vx + xControllerAuto.calculate(pose.getX(), sample.x),
+ sample.vy + yControllerAuto.calculate(pose.getY(), sample.y),
+ sample.omega
+ + headingControllerAuto.calculate(pose.getRotation().getRadians(), sample.heading));
+
+ // Apply the generated speeds
+ runVelocity(speeds);
+ }
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/Module.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java
similarity index 87%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/Module.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java
index c11b613..6f54cbc 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/Module.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java
@@ -13,6 +13,8 @@
package frc.robot.subsystems.drive.module;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -26,14 +28,20 @@ public class Module {
private final ModuleIO io;
private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
private final int index;
- private final SwerveModuleConstants constants;
+ private final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ constants;
private final Alert driveDisconnectedAlert;
private final Alert turnDisconnectedAlert;
private final Alert turnEncoderDisconnectedAlert;
private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {};
- public Module(ModuleIO io, int index, SwerveModuleConstants constants) {
+ public Module(
+ ModuleIO io,
+ int index,
+ SwerveModuleConstants
+ constants) {
this.io = io;
this.index = index;
this.constants = constants;
@@ -82,10 +90,18 @@ public void runSetpoint(SwerveModuleState state) {
/** Runs the module with the specified output while controlling to zero degrees. */
public void runCharacterization(double output) {
+ // drive
+ io.setDriveOpenLoop(output);
+ io.setTurnPosition(new Rotation2d());
+
+ // turn
+ // io.setDriveOpenLoop(0.0);
+ // io.setTurnOpenLoop(output);
+
+ // rotation
// io.setDriveOpenLoop(output);
- // io.setTurnPosition(new Rotation2d());
- io.setDriveOpenLoop(0.0);
- io.setTurnOpenLoop(output);
+ // io.setTurnPosition(new Rotation2d(constants.LocationX,
+ // constants.LocationY).plus(Rotation2d.kCCW_Pi_2));
}
/** Disables all outputs to motors. */
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
similarity index 90%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
index a615844..88d3377 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
@@ -26,12 +26,13 @@
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Voltage;
-import frc.robot.Constants;
import frc.robot.Constants.DriveConstants;
import frc.robot.subsystems.drive.Drive;
public abstract class ModuleIOTalonFX implements ModuleIO {
- protected final SwerveModuleConstants constants;
+ protected final SwerveModuleConstants<
+ TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
+ constants;
protected final TalonFX driveTalon;
protected final TalonFX turnTalon;
@@ -66,12 +67,14 @@ public abstract class ModuleIOTalonFX implements ModuleIO {
private final Debouncer turnConnectedDebounce = new Debouncer(0.5);
private final Debouncer turnEncoderConnectedDebounce = new Debouncer(0.5);
- protected ModuleIOTalonFX(SwerveModuleConstants constants) {
+ protected ModuleIOTalonFX(
+ SwerveModuleConstants
+ constants) {
this.constants = constants;
driveTalon = new TalonFX(constants.DriveMotorId, DriveConstants.DrivetrainConstants.CANBusName);
turnTalon = new TalonFX(constants.SteerMotorId, DriveConstants.DrivetrainConstants.CANBusName);
- cancoder = new CANcoder(constants.CANcoderId, DriveConstants.DrivetrainConstants.CANBusName);
+ cancoder = new CANcoder(constants.EncoderId, DriveConstants.DrivetrainConstants.CANBusName);
// Configure drive motor
var driveConfig = constants.DriveMotorInitialConfigs;
@@ -92,10 +95,8 @@ protected ModuleIOTalonFX(SwerveModuleConstants constants) {
var turnConfig = new TalonFXConfiguration();
turnConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
turnConfig.Slot0 = constants.SteerMotorGains;
- if (Constants.currentMode == Constants.Mode.SIM)
- turnConfig.Slot0.withKD(0.5).withKS(0); // during simulation, gains are slightly different
- turnConfig.Feedback.FeedbackRemoteSensorID = constants.CANcoderId;
+ turnConfig.Feedback.FeedbackRemoteSensorID = constants.EncoderId;
turnConfig.Feedback.FeedbackSensorSource =
switch (constants.FeedbackSource) {
case RemoteCANcoder -> FeedbackSensorSourceValue.RemoteCANcoder;
@@ -116,10 +117,10 @@ protected ModuleIOTalonFX(SwerveModuleConstants constants) {
tryUntilOk(5, () -> turnTalon.getConfigurator().apply(turnConfig, 0.25));
// Configure CANCoder
- CANcoderConfiguration cancoderConfig = constants.CANcoderInitialConfigs;
- cancoderConfig.MagnetSensor.MagnetOffset = constants.CANcoderOffset;
+ CANcoderConfiguration cancoderConfig = constants.EncoderInitialConfigs;
+ cancoderConfig.MagnetSensor.MagnetOffset = constants.EncoderOffset;
cancoderConfig.MagnetSensor.SensorDirection =
- constants.CANcoderInverted
+ constants.EncoderInverted
? SensorDirectionValue.Clockwise_Positive
: SensorDirectionValue.CounterClockwise_Positive;
cancoder.getConfigurator().apply(cancoderConfig);
@@ -163,15 +164,17 @@ public void updateInputs(ModuleIOInputs inputs) {
// Update drive inputs
inputs.driveConnected = driveConnectedDebounce.calculate(driveStatus.isOK());
- inputs.drivePositionRad = drivePosition.getValue().in(Radians);
- inputs.driveVelocityRadPerSec = driveVelocity.getValue().in(RadiansPerSecond);
+ inputs.drivePositionRad = drivePosition.getValue().in(Radians) / constants.DriveMotorGearRatio;
+ inputs.driveVelocityRadPerSec =
+ driveVelocity.getValue().in(RadiansPerSecond) / constants.DriveMotorGearRatio;
inputs.driveAppliedVolts = driveAppliedVolts.getValue().in(Volts);
inputs.driveCurrentAmps = driveCurrent.getValue().in(Amps);
// Update turn inputs
inputs.turnConnected = turnConnectedDebounce.calculate(turnStatus.isOK());
inputs.turnEncoderConnected = turnEncoderConnectedDebounce.calculate(turnEncoderStatus.isOK());
- inputs.turnPosition = new Rotation2d(turnPosition.getValue());
+ inputs.turnPosition =
+ new Rotation2d(turnPosition.getValue().in(Radians) / constants.SteerMotorGearRatio);
inputs.turnAbsolutePosition = new Rotation2d(turnAbsolutePosition.getValue());
inputs.turnVelocityRadPerSec = turnVelocity.getValue().in(RadiansPerSecond);
inputs.turnAppliedVolts = turnAppliedVolts.getValue().in(Volts);
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java
similarity index 89%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java
index 6292072..3ad08c7 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java
@@ -13,6 +13,8 @@
package frc.robot.subsystems.drive.module;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.util.Units;
@@ -31,7 +33,9 @@ public class ModuleIOTalonFXReal extends ModuleIOTalonFX {
private final Queue drivePositionQueue;
private final Queue turnPositionQueue;
- public ModuleIOTalonFXReal(SwerveModuleConstants constants) {
+ public ModuleIOTalonFXReal(
+ SwerveModuleConstants
+ constants) {
super(constants);
this.timestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue();
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java
similarity index 84%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java
index be81a45..234499c 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java
@@ -16,6 +16,8 @@
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.Rotations;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import frc.robot.util.PhoenixUtil;
import java.util.Arrays;
@@ -28,7 +30,10 @@
public class ModuleIOTalonFXSim extends ModuleIOTalonFX {
private final SwerveModuleSimulation simulation;
- public ModuleIOTalonFXSim(SwerveModuleConstants constants, SwerveModuleSimulation simulation) {
+ public ModuleIOTalonFXSim(
+ SwerveModuleConstants
+ constants,
+ SwerveModuleSimulation simulation) {
super(constants);
this.simulation = simulation;
simulation.useDriveMotorController(
@@ -39,8 +44,8 @@ public ModuleIOTalonFXSim(SwerveModuleConstants constants, SwerveModuleSimulatio
turnTalon,
constants.SteerMotorInverted,
cancoder,
- constants.CANcoderInverted,
- Rotations.of(constants.CANcoderOffset)));
+ constants.EncoderInverted,
+ Rotations.of(constants.EncoderOffset)));
}
@Override
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java
new file mode 100644
index 0000000..eae8675
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java
@@ -0,0 +1,48 @@
+package frc.robot.subsystems.index;
+
+import static frc.robot.Constants.IndexConstants.*;
+
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.littletonrobotics.junction.Logger;
+
+public class Index extends SubsystemBase {
+ private final IndexIO io;
+ private final IndexIOInputsAutoLogged inputs = new IndexIOInputsAutoLogged();
+
+ private final Alert indexMotorDisconnected =
+ new Alert("Disconnected Index Motor.", AlertType.kError);
+
+ public Index(IndexIO io) {
+ this.io = io;
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+ Logger.processInputs("Index", inputs);
+
+ indexMotorDisconnected.set(!inputs.indexMotorConnected);
+ }
+
+ public IndexState getIndexState() {
+ return inputs.indexState;
+ }
+
+ public Command setState(IndexState state) {
+ return runOnce(() -> io.setIndexState(state));
+ }
+
+ /**
+ * Instant Command: Sets the index state to a specific state. Used in simulation only.
+ *
+ * @param state - the {@link IndexState} to set the index to
+ * @return {@link Command}
+ */
+ public void setNoteInIntake(Trigger noteInIntake) {
+ if (io instanceof IndexIOSim) ((IndexIOSim) io).setNoteInIntake(noteInIntake);
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIO.java
similarity index 50%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIO.java
index 702090c..847a228 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIO.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIO.java
@@ -1,30 +1,20 @@
package frc.robot.subsystems.index;
-import edu.wpi.first.units.measure.Voltage;
+import frc.robot.Constants.IndexConstants.IndexState;
import org.littletonrobotics.junction.AutoLog;
public interface IndexIO {
@AutoLog
public static class IndexIOInputs {
public boolean indexMotorConnected = false;
- public double indexMotorPositionRad = 0.0;
- public double indexMotorVelocityRadPerSec = 0.0;
- public double indexMotorAppliedVolts = 0.0;
- public double indexMotorCurrentAmps = 0.0;
+ public double indexPositionRad = 0.0;
+ public double indexVelocityRadPerSec = 0.0;
+ public double indexAppliedVolts = 0.0;
+ public double indexCurrentAmps = 0.0;
public IndexState indexState = IndexState.IDLE;
}
- enum IndexState {
- IDLE,
- SHOOT,
- INTAKE,
- EXTAKE,
- AMP,
- }
-
public default void updateInputs(IndexIOInputs inputs) {}
- public default void setOutputVolts(Voltage volts) {}
-
public default void setIndexState(IndexState state) {}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSim.java
similarity index 65%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSim.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSim.java
index 7396f01..e42726f 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSim.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSim.java
@@ -2,7 +2,7 @@
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.Volts;
-import static frc.robot.subsystems.index.IndexIO.IndexState.*;
+import static frc.robot.Constants.IndexConstants.IndexState.*;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
@@ -16,33 +16,33 @@
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.simulation.DCMotorSim;
import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.IndexConstants.IndexState;
import java.util.function.Supplier;
import org.ironmaple.simulation.SimulatedArena;
import org.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly;
import org.littletonrobotics.junction.Logger;
public class IndexIOSim implements IndexIO {
- DCMotorSim indexMotorSim;
+ private final DCMotorSim indexMotorSim;
- DCMotor INDEX_GEARBOX = DCMotor.getNeoVortex(1);
+ private final DCMotor INDEX_GEARBOX = DCMotor.getNeoVortex(1);
private Voltage voltsToApply = Volts.of(0.0);
- Trigger noteInIntake;
+ private Trigger noteInIntake;
private NoteOnFly noteOnFly;
- Supplier robotSimulationWorldPose;
- Supplier chassisSpeedsFieldRelative;
- double velocityRPM;
- Supplier pivotAngle;
- SimulatedArena simulatedArena;
+ private final Supplier robotPose;
+ private final Supplier chassisSpeedsFieldRelative;
+ private double velocityRPM;
+ private final Supplier pivotAngle;
+ private final SimulatedArena simulatedArena;
private IndexState state = IndexState.IDLE;
public IndexIOSim(
- Trigger noteInIntake,
- Supplier robotSimulationWorldPose,
+ Supplier robotPose,
Supplier chassisSpeedsFieldRelative,
Supplier pivotAngle,
SimulatedArena simulatedArena) {
@@ -50,78 +50,78 @@ public IndexIOSim(
new DCMotorSim(
LinearSystemId.createDCMotorSystem(INDEX_GEARBOX, 0.001, 1.0), INDEX_GEARBOX);
- this.noteInIntake = noteInIntake;
+ this.noteInIntake = null;
- this.robotSimulationWorldPose = robotSimulationWorldPose;
+ this.robotPose = robotPose;
this.chassisSpeedsFieldRelative = chassisSpeedsFieldRelative;
this.pivotAngle = pivotAngle;
this.simulatedArena = simulatedArena;
}
+ public void setNoteInIntake(Trigger noteInIntake) {
+ this.noteInIntake = noteInIntake;
+ }
+
@Override
public void updateInputs(IndexIOInputs inputs) {
- inputs.indexMotorConnected = true;
-
- indexMotorSim.setInputVoltage(MathUtil.clamp(voltsToApply.in(Volts), -12.0, 12.0));
+ indexMotorSim.setInputVoltage(MathUtil.clamp((inputs.indexState.pct * 12.0), -12.0, 12.0));
indexMotorSim.update(0.02);
- inputs.indexMotorPositionRad = indexMotorSim.getAngularPositionRad();
- inputs.indexMotorVelocityRadPerSec = indexMotorSim.getAngularVelocityRadPerSec();
- inputs.indexMotorAppliedVolts = voltsToApply.in(Volts);
- inputs.indexMotorCurrentAmps = Math.abs(indexMotorSim.getCurrentDrawAmps());
+ inputs.indexMotorConnected = true;
+ inputs.indexPositionRad = indexMotorSim.getAngularPositionRad();
+ inputs.indexVelocityRadPerSec = indexMotorSim.getAngularVelocityRadPerSec();
+ inputs.indexAppliedVolts = voltsToApply.in(Volts);
+ inputs.indexCurrentAmps = Math.abs(indexMotorSim.getCurrentDrawAmps());
inputs.indexState = state;
- if ((state == SHOOT || state == EXTAKE || state == AMP) && noteInIntake.getAsBoolean()) {
+ if ((state == SPEAKER || state == EXTAKE || state == AMP) && noteInIntake.getAsBoolean()) {
launchNoteWithTrajectory();
}
}
- @Override
- public void setOutputVolts(Voltage volts) {
- voltsToApply = volts;
- }
-
public void launchNoteWithTrajectory() {
- if (state == SHOOT) velocityRPM = 6000;
- else if (state == EXTAKE) velocityRPM = 2000;
+ if (state == SPEAKER) velocityRPM = 6000;
+ else if (state == EXTAKE) velocityRPM = 500;
else velocityRPM = -500;
noteOnFly =
new NoteOnFly(
// Specify the position of the chassis when the note is launched
- robotSimulationWorldPose.get().getTranslation(),
+ robotPose.get().getTranslation(),
// Specify the translation of the shooter from the robot center (in the shooter’s
// reference frame)
new Translation2d(0.2, 0),
// Specify the field-relative speed of the chassis, adding it to the initial velocity of
// the projectile
chassisSpeedsFieldRelative.get(),
- // The shooter facing direction is the same as the robot’s facing direction
- robotSimulationWorldPose.get().getRotation().plus(Rotation2d.k180deg),
+ // The shooter facing direction is opposite the robot’s facing direction
+ robotPose.get().getRotation().plus(Rotation2d.k180deg),
// Initial height of the flying note
0.7,
// The launch speed is proportional to the RPM; assumed to be 16 meters/second at 6000
// RPM
velocityRPM / 6000 * 16,
// The angle at which the note is launched
- pivotAngle.get().in(Radians));
- simulatedArena.addGamePieceProjectile(noteOnFly);
+ -pivotAngle.get().in(Radians));
noteOnFly.enableBecomeNoteOnFieldAfterTouchGround();
+ if (state == IndexState.SPEAKER) {
+ noteOnFly.asSpeakerShotNote(() -> System.out.println("Hit speaker, +2 points!"));
+ } else if (state == IndexState.AMP) {
+ noteOnFly.asAmpShotNote(() -> System.out.println("Hit amp, +1 points!"));
+ }
noteOnFly
// Configure callbacks to visualize the flight trajectory of the projectile
.withProjectileTrajectoryDisplayCallBack(
// Callback for when the note will eventually hit the target (if configured)
(pose3ds) -> {
Logger.recordOutput("Index/NoteProjectileSuccessfulShot", pose3ds.toArray(Pose3d[]::new));
- System.out.println("asdkjajbdhsadg");
},
// Callback for when the note will eventually miss the target, or if no target is configured
(pose3ds) -> {
Logger.recordOutput(
"Index/NoteProjectileUnsuccessfulShot", pose3ds.toArray(Pose3d[]::new));
- System.out.println("asdsadsada");
});
if (noteInIntake.getAsBoolean()) {
- noteOnFly.launch();
+ simulatedArena.addGamePieceProjectile(noteOnFly);
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java
similarity index 70%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java
index 0d49bf6..81d7467 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java
@@ -13,15 +13,15 @@
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkFlexConfig;
import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotController;
+import frc.robot.Constants.IndexConstants.IndexState;
import java.util.function.DoubleSupplier;
public class IndexIOSparkFlex implements IndexIO {
- SparkFlex indexMotor = new SparkFlex(INDEX_MOTOR_ID, MotorType.kBrushless);
- RelativeEncoder indexEncoder = indexMotor.getEncoder();
+ private final SparkFlex indexMotor = new SparkFlex(INDEX_MOTOR_ID, MotorType.kBrushless);
+ private final RelativeEncoder indexEncoder = indexMotor.getEncoder();
- Debouncer indexMotorConnectedDebounce = new Debouncer(0.5);
+ private final Debouncer indexMotorConnectedDebounce = new Debouncer(0.5);
private IndexState state = IndexState.IDLE;
@@ -30,7 +30,8 @@ public IndexIOSparkFlex() {
config
.inverted(false)
.idleMode(IdleMode.kBrake)
- .voltageCompensation(RobotController.getBatteryVoltage());
+ .voltageCompensation(RobotController.getBatteryVoltage())
+ .smartCurrentLimit(20);
tryUntilOk(
indexMotor,
@@ -42,30 +43,23 @@ public IndexIOSparkFlex() {
@Override
public void updateInputs(IndexIOInputs inputs) {
+ indexMotor.setVoltage(inputs.indexState.pct * 12.0);
+
sparkStickyFault = false;
- ifOk(
- indexMotor, indexEncoder::getPosition, position -> inputs.indexMotorPositionRad = position);
+ ifOk(indexMotor, indexEncoder::getPosition, position -> inputs.indexPositionRad = position);
ifOk(
indexMotor,
indexEncoder::getVelocity,
- velocity -> inputs.indexMotorVelocityRadPerSec = velocity);
+ velocity -> inputs.indexVelocityRadPerSec = velocity);
ifOk(
indexMotor,
new DoubleSupplier[] {indexMotor::getAppliedOutput, indexMotor::getBusVoltage},
- (values) -> inputs.indexMotorAppliedVolts = values[0] * values[1]);
- ifOk(
- indexMotor,
- indexMotor::getOutputCurrent,
- current -> inputs.indexMotorCurrentAmps = current);
+ (values) -> inputs.indexAppliedVolts = values[0] * values[1]);
+ ifOk(indexMotor, indexMotor::getOutputCurrent, current -> inputs.indexCurrentAmps = current);
inputs.indexMotorConnected = indexMotorConnectedDebounce.calculate(!sparkStickyFault);
inputs.indexState = state;
}
- @Override
- public void setOutputVolts(Voltage volts) {
- indexMotor.setVoltage(volts);
- }
-
@Override
public void setIndexState(IndexState state) {
this.state = state;
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/Intake.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java
similarity index 53%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/intake/Intake.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java
index 495ade6..2d097d8 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -1,30 +1,20 @@
package frc.robot.subsystems.intake;
-import static edu.wpi.first.units.Units.Volts;
-import static frc.robot.Constants.IntakeConstants.INTAKE_OUTPUT_PERCENT;
-
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.IntakeConstants.IntakeState;
import org.littletonrobotics.junction.Logger;
public class Intake extends SubsystemBase {
- public static enum IntakeState {
- IDLE,
- INTAKE,
- EXTAKE,
- }
-
private final IntakeIO io;
private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
- public Trigger noteInIntake =
+ public final Trigger noteInIntake =
new Trigger(() -> inputs.beamBreakSensorConnected && inputs.noteInIntake);
- private IntakeState state = IntakeState.IDLE;
-
private final Alert intakeDisconnectedAlert =
new Alert("Disconnected intake motor.", AlertType.kError);
private final Alert beamBreakDisconnected =
@@ -36,7 +26,6 @@ public Intake(IntakeIO io) {
@Override
public void periodic() {
- setDefaultCommand(manageIntake());
io.updateInputs(inputs);
Logger.processInputs("Intake", inputs);
@@ -44,27 +33,7 @@ public void periodic() {
beamBreakDisconnected.set(!inputs.beamBreakSensorConnected);
}
- public Command setVelocityState(IntakeState state) {
- return runOnce(() -> this.state = state);
- }
-
- private Command manageIntake() {
- return run(
- () -> {
- switch (state) {
- case IDLE:
- io.setOutputVolts(Volts.of(0.0));
- break;
- case INTAKE:
- io.setOutputVolts(Volts.of(INTAKE_OUTPUT_PERCENT * 12.0));
- break;
- case EXTAKE:
- io.setOutputVolts(Volts.of(-INTAKE_OUTPUT_PERCENT * 12.0));
- break;
- default:
- setVelocityState(IntakeState.IDLE);
- break;
- }
- });
+ public Command setState(IntakeState state) {
+ return runOnce(() -> io.setIntakeState(state));
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
similarity index 76%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
index ad50b7a..6b1bbfc 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -1,6 +1,6 @@
package frc.robot.subsystems.intake;
-import edu.wpi.first.units.measure.Voltage;
+import frc.robot.Constants.IntakeConstants.IntakeState;
import org.littletonrobotics.junction.AutoLog;
public interface IntakeIO {
@@ -14,9 +14,10 @@ public static class IntakeIOInputs {
public boolean beamBreakSensorConnected = false;
public boolean noteInIntake = false;
+ public IntakeState intakeState = IntakeState.IDLE;
}
public default void updateInputs(IntakeIOInputs inputs) {}
- public default void setOutputVolts(Voltage volts) {}
+ public default void setIntakeState(IntakeState state) {}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
similarity index 83%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
index 1bcd65a..a2ee8fa 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -8,19 +8,21 @@
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import frc.robot.Constants.IntakeConstants.IntakeState;
import java.util.function.BooleanSupplier;
import org.ironmaple.simulation.IntakeSimulation;
import org.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation;
public class IntakeIOSim implements IntakeIO {
- private DCMotorSim intakeMotorSim;
+ private final DCMotorSim intakeMotorSim;
private final DCMotor INTAKE_GEARBOX = DCMotor.getNeoVortex(1);
private final IntakeSimulation intakePhysicsSim;
- BooleanSupplier isShooting;
+ private final BooleanSupplier isShooting;
private Voltage appliedVolts = Volts.of(0.0);
+ private IntakeState state = IntakeState.IDLE;
public IntakeIOSim(AbstractDriveTrainSimulation driveTrainSim, BooleanSupplier isShooting) {
intakeMotorSim =
@@ -35,6 +37,13 @@ public IntakeIOSim(AbstractDriveTrainSimulation driveTrainSim, BooleanSupplier i
@Override
public void updateInputs(IntakeIOInputs inputs) {
+ appliedVolts = Volts.of(inputs.intakeState.pct * 12.0);
+ if (appliedVolts.equals(Volts.of(0.0))) {
+ intakePhysicsSim.stopIntake();
+ } else {
+ intakePhysicsSim.startIntake();
+ }
+
inputs.intakeMotorConnected = true;
// Update motor sim
@@ -48,6 +57,7 @@ public void updateInputs(IntakeIOInputs inputs) {
inputs.beamBreakSensorConnected = true;
inputs.noteInIntake = intakePhysicsSim.getGamePiecesAmount() != 0;
+ inputs.intakeState = state;
if (isShooting.getAsBoolean()) {
intakePhysicsSim.obtainGamePieceFromIntake();
@@ -55,12 +65,7 @@ public void updateInputs(IntakeIOInputs inputs) {
}
@Override
- public void setOutputVolts(Voltage volts) {
- appliedVolts = volts;
- if (volts.equals(Volts.of(0.0))) {
- intakePhysicsSim.stopIntake();
- } else {
- intakePhysicsSim.startIntake();
- }
+ public void setIntakeState(IntakeState state) {
+ this.state = state;
}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java
new file mode 100644
index 0000000..2e0217b
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java
@@ -0,0 +1,81 @@
+package frc.robot.subsystems.intake;
+
+import static edu.wpi.first.units.Units.Volts;
+import static frc.robot.Constants.IntakeConstants.BEAM_BREAK_SENSOR_ID;
+import static frc.robot.Constants.IntakeConstants.INTAKE_MOTOR_ID;
+import static frc.robot.util.SparkUtil.ifOk;
+import static frc.robot.util.SparkUtil.sparkStickyFault;
+import static frc.robot.util.SparkUtil.tryUntilOk;
+
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkFlexConfig;
+import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.RobotController;
+import frc.robot.Constants.IntakeConstants.IntakeState;
+import java.util.function.DoubleSupplier;
+
+public class IntakeIOSparkFlex implements IntakeIO {
+ private final SparkFlex intakeMotor = new SparkFlex(INTAKE_MOTOR_ID, MotorType.kBrushless);
+ private final RelativeEncoder intakeEncoder = intakeMotor.getEncoder();
+ private DigitalInput beamBreakSensor;
+
+ Debouncer intakeMotorConnectedDebounce = new Debouncer(0.5);
+
+ private IntakeState state = IntakeState.IDLE;
+
+ public IntakeIOSparkFlex() {
+ try {
+ beamBreakSensor = new DigitalInput(BEAM_BREAK_SENSOR_ID);
+ } catch (Exception e) {
+ beamBreakSensor = null;
+ }
+
+ SparkFlexConfig config = new SparkFlexConfig();
+ config
+ .inverted(false)
+ .idleMode(IdleMode.kCoast)
+ .voltageCompensation(RobotController.getBatteryVoltage())
+ .smartCurrentLimit(30);
+
+ tryUntilOk(
+ intakeMotor,
+ 5,
+ () ->
+ intakeMotor.configure(
+ config, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters));
+ }
+
+ @Override
+ public void updateInputs(IntakeIOInputs inputs) {
+ intakeMotor.setVoltage(Volts.of(state.pct * 12.0));
+
+ sparkStickyFault = false;
+ ifOk(intakeMotor, intakeEncoder::getPosition, position -> inputs.intakePositionRad = position);
+ ifOk(
+ intakeMotor,
+ intakeEncoder::getVelocity,
+ velocity -> inputs.intakeVelocityRadPerSec = velocity);
+ ifOk(
+ intakeMotor,
+ new DoubleSupplier[] {intakeMotor::getAppliedOutput, intakeMotor::getBusVoltage},
+ (values) -> inputs.intakeAppliedVolts = values[0] * values[1]);
+ ifOk(intakeMotor, intakeMotor::getOutputCurrent, current -> inputs.intakeCurrentAmps = current);
+ inputs.intakeMotorConnected = intakeMotorConnectedDebounce.calculate(!sparkStickyFault);
+
+ inputs.beamBreakSensorConnected = beamBreakSensor != null;
+ inputs.noteInIntake = beamBreakSensor != null && !beamBreakSensor.get();
+
+ inputs.intakeState = state;
+ }
+
+ @Override
+ public void setIntakeState(IntakeState state) {
+ this.state = state;
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
similarity index 90%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
index 4bbf716..e871fa0 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
@@ -24,8 +24,8 @@
import edu.wpi.first.wpilibj.DigitalInput;
public class IntakeIOTalonFX implements IntakeIO {
- TalonFX intakeMotor = new TalonFX(INTAKE_MOTOR_ID);
- DigitalInput beamBreakSensor;
+ private final TalonFX intakeMotor = new TalonFX(INTAKE_MOTOR_ID);
+ private DigitalInput beamBreakSensor;
private final StatusSignal intakePosition;
private final StatusSignal intakeVelocity;
@@ -36,6 +36,8 @@ public class IntakeIOTalonFX implements IntakeIO {
private final VoltageOut intakeVoltageOut = new VoltageOut(0);
+ private IntakeState state = IntakeState.IDLE;
+
public IntakeIOTalonFX() {
try {
beamBreakSensor = new DigitalInput(BEAM_BREAK_SENSOR_ID);
@@ -63,6 +65,8 @@ public IntakeIOTalonFX() {
@Override
public void updateInputs(IntakeIOInputs inputs) {
+ intakeMotor.setControl(intakeVoltageOut.withOutput(Volts.of(state.pct * 12.0)));
+
var intakeStatus =
BaseStatusSignal.refreshAll(
intakePosition, intakeVelocity, intakeAppliedVoltage, intakeCurrent);
@@ -74,10 +78,12 @@ public void updateInputs(IntakeIOInputs inputs) {
inputs.beamBreakSensorConnected = beamBreakSensor != null;
inputs.noteInIntake = beamBreakSensor != null && !beamBreakSensor.get();
+
+ inputs.intakeState = state;
}
@Override
- public void setOutputVolts(Voltage volts) {
- intakeMotor.setControl(intakeVoltageOut.withOutput(volts.in(Volts)));
+ public void setIntakeState(IntakeState state) {
+ this.state = state;
}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java
new file mode 100644
index 0000000..34447d2
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java
@@ -0,0 +1,118 @@
+package frc.robot.subsystems.pivot;
+
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.Rotations;
+import static frc.robot.Constants.PivotConstants.*;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.PivotConstants;
+import frc.robot.Constants.PivotConstants.PivotState;
+import java.util.function.Supplier;
+import org.ironmaple.utils.FieldMirroringUtils;
+import org.ironmaple.utils.LegacyFieldMirroringUtils2024;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.mechanism.LoggedMechanism2d;
+import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
+
+public class Pivot extends SubsystemBase {
+ private final PivotIO io;
+ private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged();
+
+ @AutoLogOutput
+ public Trigger atAngle =
+ new Trigger(
+ () -> MathUtil.isNear(inputs.pivotMainPositionRad, getPosition().in(Radians), 0.001));
+
+ @AutoLogOutput private final LoggedMechanism2d pivotMech = new LoggedMechanism2d(2, 2);
+ private final LoggedMechanismLigament2d pivotArm =
+ pivotMech
+ .getRoot("pivotMech", 1, 1)
+ .append(new LoggedMechanismLigament2d("pivotarm", 0.5, 0));
+
+ private final Alert pivotMainDisconnected =
+ new Alert("Disconnected Pivot Main Motor.", AlertType.kError);
+ private final Alert pivotFollowerDisconnected =
+ new Alert("Disconnected Pivot Follower Motor.", AlertType.kError);
+
+ public Pivot(PivotIO io) {
+ this.io = io;
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+ Logger.processInputs("Pivot", inputs);
+
+ pivotArm.setAngle(Rotation2d.fromRadians(inputs.pivotMainPositionRad));
+
+ pivotMainDisconnected.set(!inputs.pivotMainConnected);
+ pivotFollowerDisconnected.set(!inputs.pivotFollowerConnected);
+ }
+
+ public Command setState(PivotState state) {
+ return runOnce(() -> io.setState(state));
+ }
+
+ /**
+ * @return the current pivot angle as a {@link Angle} object
+ */
+ public Angle getPosition() {
+ return Radians.of(inputs.pivotMainPositionRad);
+ }
+
+ /**
+ * @return the current pivot state as a {@link PivotState} object
+ */
+ public PivotState getState() {
+ return inputs.pivotState;
+ }
+
+ /**
+ * Continuous command: runs the pivot at specific duty cycle and stops it when the command ends
+ *
+ * @param pct - duty cycle percentage
+ * @return "run-end" {@link RunCommand}
+ */
+ public Command setPivotPctCommand(double pct) {
+ return setState(PivotState.MANUAL_OVERRIDE)
+ .andThen(runEnd(() -> io.setPct(pct), () -> io.setPct(0.0)));
+ }
+
+ /**
+ * Continuous command: moves the pivot to a specific angle and stops it when the command ends The
+ * angle is based on the robot's distance from the speaker and a lookup table ACCURATE
+ * localization is necessary for this to work well
+ *
+ * @param drivePoseSupplier - a supplier for the robot's current pose
+ * @return {@link SequentialCommandGroup}
+ */
+ public Command angleToSpeakerCommand(Supplier drivePoseSupplier) {
+ return Commands.sequence(
+ this.setState(PivotState.AIMING),
+ run(
+ () ->
+ io.setTargetPosition(
+ Rotations.of(
+ PivotConstants.PIVOT_ANGLES_MAP_SIM.get(
+ drivePoseSupplier
+ .get()
+ .getTranslation()
+ .minus(
+ FieldMirroringUtils.toCurrentAllianceTranslation(
+ LegacyFieldMirroringUtils2024.SPEAKER_POSE_BLUE)
+ .toTranslation2d())
+ .getNorm())))));
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
similarity index 75%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
index 99830c9..c81e56a 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIO.java
@@ -1,6 +1,7 @@
package frc.robot.subsystems.pivot;
import edu.wpi.first.units.measure.Angle;
+import frc.robot.Constants.PivotConstants.PivotState;
import org.littletonrobotics.junction.AutoLog;
public interface PivotIO {
@@ -19,9 +20,14 @@ public static class PivotIOInputs {
public double pivotFollowerCurrentAmps = 0.0;
public double pivotPositionSetpointRad = 0.0;
+ public PivotState pivotState = PivotState.SUBWOOFER;
}
public default void updateInputs(PivotIOInputs inputs) {}
- public default void setPosition(Angle position) {}
+ public default void setState(PivotState state) {}
+
+ public default void setPct(double pct) {}
+
+ public default void setTargetPosition(Angle position) {}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
new file mode 100644
index 0000000..474eca3
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java
@@ -0,0 +1,92 @@
+package frc.robot.subsystems.pivot;
+
+import static edu.wpi.first.units.Units.Radians;
+import static edu.wpi.first.units.Units.Volts;
+import static frc.robot.Constants.PivotConstants.PIVOT_GEAR_RATIO;
+import static frc.robot.Constants.PivotConstants.PIVOT_kD;
+import static frc.robot.Constants.PivotConstants.PIVOT_kI;
+import static frc.robot.Constants.PivotConstants.PIVOT_kP;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import frc.robot.Constants.PivotConstants.PivotState;
+import org.ironmaple.simulation.motorsims.SimulatedBattery;
+
+public class PivotIOSim implements PivotIO {
+ private final DCMotorSim pivotSim;
+ private final DCMotor PIVOT_GEARBOX = DCMotor.getKrakenX60Foc(2);
+
+ private final ProfiledPIDController pivotController =
+ new ProfiledPIDController(
+ PIVOT_kP, PIVOT_kI, PIVOT_kD, new TrapezoidProfile.Constraints(2500, 2000));
+
+ private Angle pivotTargetPosition = Radians.of(0.0);
+ private PivotState state = PivotState.INTAKE_SIM;
+
+ private Voltage voltsToApply = Volts.of(0.0);
+
+ public PivotIOSim() {
+ pivotSim =
+ new DCMotorSim(
+ LinearSystemId.createSingleJointedArmSystem(PIVOT_GEARBOX, 0.001, PIVOT_GEAR_RATIO),
+ PIVOT_GEARBOX);
+ pivotSim.setAngle(0.0);
+ pivotController.reset(0.0);
+ }
+
+ @Override
+ public void updateInputs(PivotIOInputs inputs) {
+ if (state != PivotState.MANUAL_OVERRIDE && state != PivotState.AIMING)
+ pivotTargetPosition = state.angle;
+
+ inputs.pivotMainConnected = true;
+ inputs.pivotFollowerConnected = true;
+
+ // run closed-loop if not in manual override
+ if (state != PivotState.MANUAL_OVERRIDE) {
+ voltsToApply =
+ Volts.of(
+ MathUtil.clamp(
+ pivotController.calculate(
+ pivotSim.getAngularPositionRad(), pivotTargetPosition.in(Radians)),
+ -12.0,
+ 12.0));
+ }
+ pivotSim.setInputVoltage(voltsToApply.in(Volts));
+ pivotSim.update(0.02);
+
+ inputs.pivotMainPositionRad = pivotSim.getAngularPositionRad();
+ inputs.pivotMainVelocityRadPerSec = pivotSim.getAngularVelocityRadPerSec();
+ inputs.pivotMainAppliedVolts = pivotSim.getInputVoltage();
+ inputs.pivotMainCurrentAmps = Math.abs(pivotSim.getCurrentDrawAmps());
+
+ inputs.pivotFollowerPositionRad = inputs.pivotMainPositionRad;
+ inputs.pivotFollowerVelocityRadPerSec = inputs.pivotMainVelocityRadPerSec;
+ inputs.pivotFollowerAppliedVolts = inputs.pivotMainAppliedVolts;
+ inputs.pivotFollowerCurrentAmps = inputs.pivotMainCurrentAmps;
+
+ inputs.pivotPositionSetpointRad = pivotTargetPosition.in(Radians);
+ inputs.pivotState = state;
+ }
+
+ @Override
+ public void setState(PivotState state) {
+ this.state = state;
+ }
+
+ @Override
+ public void setPct(double pct) {
+ voltsToApply = Volts.of(pct * SimulatedBattery.getBatteryVoltage().in(Volts));
+ }
+
+ @Override
+ public void setTargetPosition(Angle position) {
+ pivotTargetPosition = position;
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
similarity index 81%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
index 91449d9..a81d6c5 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java
@@ -16,6 +16,7 @@
import com.ctre.phoenix6.controls.MotionMagicVoltage;
import com.ctre.phoenix6.hardware.ParentDevice;
import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.GravityTypeValue;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.math.filter.Debouncer;
@@ -23,6 +24,7 @@
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Voltage;
+import frc.robot.Constants.PivotConstants.PivotState;
public class PivotIOTalonFX implements PivotIO {
private final TalonFX pivotMainMotor = new TalonFX(PIVOT_MAIN_MOTOR_ID);
@@ -43,15 +45,20 @@ public class PivotIOTalonFX implements PivotIO {
private final MotionMagicVoltage pivotMotionMagicPositionRequest = new MotionMagicVoltage(0);
+ private Angle pivotTargetPosition = Radians.of(0.0);
+ private PivotState state = PivotState.INTAKE;
+
public PivotIOTalonFX() {
TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
pivotConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
- pivotConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+ pivotConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
pivotConfig.Slot0.kV = PIVOT_kV;
pivotConfig.Slot0.kP = PIVOT_kP;
pivotConfig.Slot0.kI = PIVOT_kI;
pivotConfig.Slot0.kD = PIVOT_kD;
+ pivotConfig.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
+ pivotConfig.Slot0.kG = PIVOT_kG;
pivotConfig.MotionMagic.MotionMagicCruiseVelocity = PIVOT_CRUISE_VELOCITY;
pivotConfig.MotionMagic.MotionMagicAcceleration = PIVOT_ACCELERATION;
@@ -61,8 +68,9 @@ public PivotIOTalonFX() {
tryUntilOk(5, () -> pivotFollowerMotor.getConfigurator().apply(pivotConfig, 0.25));
pivotFollowerMotor.setControl(new Follower(PIVOT_MAIN_MOTOR_ID, false));
- pivotMainMotor.setPosition(0.0);
- pivotFollowerMotor.setPosition(0.0);
+ // don't do this, because it will mess up pivot position on second deploy if not rebooted
+ // pivotMainMotor.setPosition(0.0);
+ // pivotFollowerMotor.setPosition(0.0);
pivotMainPosition = pivotMainMotor.getPosition();
pivotMainVelocity = pivotMainMotor.getVelocity();
@@ -89,6 +97,12 @@ public PivotIOTalonFX() {
@Override
public void updateInputs(PivotIOInputs inputs) {
+ if (state != PivotState.MANUAL_OVERRIDE && state != PivotState.AIMING)
+ pivotTargetPosition = state.angle;
+
+ if (state != PivotState.MANUAL_OVERRIDE)
+ pivotMainMotor.setControl(pivotMotionMagicPositionRequest.withPosition(pivotTargetPosition));
+
StatusCode pivotMainStatus =
BaseStatusSignal.refreshAll(
pivotMainPosition, pivotMainVelocity, pivotMainAppliedVoltage, pivotMainCurrent);
@@ -111,12 +125,20 @@ public void updateInputs(PivotIOInputs inputs) {
inputs.pivotFollowerAppliedVolts = pivotFollowerAppliedVoltage.getValue().in(Volts);
inputs.pivotFollowerCurrentAmps = pivotFollowerCurrent.getValue().in(Amps);
- inputs.pivotPositionSetpointRad =
- pivotMotionMagicPositionRequest.getPositionMeasure().in(Radians);
+ inputs.pivotPositionSetpointRad = pivotTargetPosition.in(Radians);
+ inputs.pivotState = state;
+ }
+
+ @Override
+ public void setState(PivotState state) {
+ this.state = state;
}
@Override
- public void setPosition(Angle position) {
- pivotMainMotor.setControl(pivotMotionMagicPositionRequest.withPosition(position));
+ public void setPct(double pct) {
+ pivotMainMotor.set(pct);
}
+
+ @Override
+ public void setTargetPosition(Angle position) {}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java
new file mode 100644
index 0000000..3e61f2f
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -0,0 +1,54 @@
+package frc.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.RPM;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.ShooterConstants.ShooterState;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
+public class Shooter extends SubsystemBase {
+ private final ShooterIO io;
+ private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
+
+ private final Alert topShooterDisconnected =
+ new Alert("Disconnected Top Shooter Motor.", AlertType.kError);
+ private final Alert bottomShooterDisconnected =
+ new Alert("Disconnected Bottom Shooter Motor.", AlertType.kError);
+
+ @AutoLogOutput
+ public final Trigger atSpeed =
+ new Trigger(
+ () ->
+ MathUtil.isNear(
+ inputs.topVelocitySetpointRadPerSec,
+ inputs.topShooterVelocityRadPerSec,
+ RPM.of(500.0).in(RadiansPerSecond))
+ && MathUtil.isNear(
+ inputs.bottomVelocitySetpointRadPerSec,
+ inputs.bottomShooterVelocityRadPerSec,
+ RPM.of(500.0).in(RadiansPerSecond)));
+
+ public Shooter(ShooterIO io) {
+ this.io = io;
+ }
+
+ @Override
+ public void periodic() {
+ io.updateInputs(inputs);
+ Logger.processInputs("Shooter", inputs);
+
+ topShooterDisconnected.set(!inputs.topConnected);
+ bottomShooterDisconnected.set(!inputs.bottomConnected);
+ }
+
+ public Command setState(ShooterState state) {
+ return runOnce(() -> io.setShooterState(state));
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
similarity index 79%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index 74ace6a..463f4f9 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -1,6 +1,6 @@
package frc.robot.subsystems.shooter;
-import edu.wpi.first.units.measure.AngularVelocity;
+import frc.robot.Constants.ShooterConstants;
import org.littletonrobotics.junction.AutoLog;
public interface ShooterIO {
@@ -19,9 +19,11 @@ public static class ShooterIOInputs {
public double bottomShooterAppliedVolts = 0.0;
public double bottomShooterCurrentAmps = 0.0;
public double bottomVelocitySetpointRadPerSec = 0.0;
+
+ public ShooterConstants.ShooterState shooterState = ShooterConstants.ShooterState.IDLE;
}
public default void updateInputs(ShooterIOInputs inputs) {}
- public default void setVelocity(AngularVelocity topVelocity, AngularVelocity bottomVelocity) {}
+ public default void setShooterState(ShooterConstants.ShooterState state) {}
}
diff --git a/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
new file mode 100644
index 0000000..809df5f
--- /dev/null
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -0,0 +1,100 @@
+package frc.robot.subsystems.shooter;
+
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Constants.ShooterConstants.ShooterState;
+
+public class ShooterIOSim implements ShooterIO {
+ DCMotorSim topShooterSim, bottomShooterSim;
+
+ private final DCMotor SHOOTER_GEARBOX = DCMotor.getNeoVortex(1);
+
+ private AngularVelocity topTargetVelocity = RadiansPerSecond.of(0);
+ private AngularVelocity bottomTargetVelocity = RadiansPerSecond.of(0);
+
+ private PIDController topController = new PIDController(0.03, 0.0, 0.0);
+ private PIDController bottomController = new PIDController(0.03, 0.0, 0.0);
+ private SimpleMotorFeedforward topFeedforward = new SimpleMotorFeedforward(0.0, 0.017);
+ private SimpleMotorFeedforward bottomFeedforward = new SimpleMotorFeedforward(0.0, 0.017);
+
+ private ShooterConstants.ShooterState state = ShooterConstants.ShooterState.IDLE;
+ Voltage voltsToApplyTop = Volts.of(0);
+ Voltage voltsToApplyBottom = Volts.of(0);
+
+ public ShooterIOSim() {
+ topShooterSim =
+ new DCMotorSim(
+ LinearSystemId.createDCMotorSystem(SHOOTER_GEARBOX, 0.001, 1.0), SHOOTER_GEARBOX);
+ bottomShooterSim =
+ new DCMotorSim(
+ LinearSystemId.createDCMotorSystem(SHOOTER_GEARBOX, 0.001, 1.0), SHOOTER_GEARBOX);
+ }
+
+ @Override
+ public void updateInputs(ShooterIOInputs inputs) {
+ topTargetVelocity = inputs.shooterState.topRPM;
+ bottomTargetVelocity = inputs.shooterState.bottomRPM;
+
+ if (state == ShooterState.IDLE) {
+ voltsToApplyTop = Volts.zero();
+ voltsToApplyBottom = Volts.zero();
+ } else {
+ voltsToApplyTop =
+ Volts.of(
+ MathUtil.clamp(
+ topController.calculate(
+ topShooterSim.getAngularVelocityRadPerSec(),
+ topTargetVelocity.in(RadiansPerSecond))
+ + topFeedforward.calculate(topTargetVelocity.in(RadiansPerSecond)),
+ -12.0,
+ 12.0));
+
+ voltsToApplyBottom =
+ Volts.of(
+ MathUtil.clamp(
+ bottomController.calculate(
+ bottomShooterSim.getAngularVelocityRadPerSec(),
+ bottomTargetVelocity.in(RadiansPerSecond))
+ + bottomFeedforward.calculate(bottomTargetVelocity.in(RadiansPerSecond)),
+ -12.0,
+ 12.0));
+ }
+
+ topShooterSim.setInputVoltage(voltsToApplyTop.in(Volts));
+ bottomShooterSim.setInputVoltage(voltsToApplyBottom.in(Volts));
+
+ topShooterSim.update(0.02);
+ bottomShooterSim.update(0.02);
+
+ inputs.topConnected = true;
+ inputs.topShooterPositionRad = topShooterSim.getAngularPositionRad();
+ inputs.topShooterVelocityRadPerSec = topShooterSim.getAngularVelocityRadPerSec();
+ inputs.topShooterAppliedVolts = topShooterSim.getInputVoltage();
+ inputs.topShooterCurrentAmps = topShooterSim.getCurrentDrawAmps();
+ inputs.topVelocitySetpointRadPerSec = topTargetVelocity.in(RadiansPerSecond);
+
+ inputs.bottomConnected = true;
+ inputs.bottomShooterPositionRad = bottomShooterSim.getAngularPositionRad();
+ inputs.bottomShooterVelocityRadPerSec = bottomShooterSim.getAngularVelocityRadPerSec();
+ inputs.bottomShooterAppliedVolts = bottomShooterSim.getInputVoltage();
+ inputs.bottomShooterCurrentAmps = bottomShooterSim.getCurrentDrawAmps();
+ inputs.bottomVelocitySetpointRadPerSec = bottomTargetVelocity.in(RadiansPerSecond);
+
+ inputs.shooterState = state;
+ }
+
+ @Override
+ public void setShooterState(ShooterConstants.ShooterState state) {
+ this.state = state;
+ }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java
similarity index 92%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java
index 61f7e6d..81c1a78 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java
@@ -2,7 +2,6 @@
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.RPM;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
import static frc.robot.Constants.ShooterConstants.*;
import static frc.robot.util.SparkUtil.ifOk;
import static frc.robot.util.SparkUtil.sparkStickyFault;
@@ -19,7 +18,7 @@
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkFlexConfig;
import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.units.measure.AngularVelocity;
+import frc.robot.Constants.ShooterConstants;
import java.util.function.DoubleSupplier;
public class ShooterIOSparkFlex implements ShooterIO {
@@ -40,6 +39,8 @@ public class ShooterIOSparkFlex implements ShooterIO {
private double topTargetVelocity = 0;
private double bottomTargetVelocity = 0;
+ private ShooterConstants.ShooterState state = ShooterConstants.ShooterState.IDLE;
+
public ShooterIOSparkFlex() {
SparkFlexConfig topConfig = new SparkFlexConfig();
topConfig.idleMode(IdleMode.kCoast);
@@ -78,6 +79,11 @@ public ShooterIOSparkFlex() {
@Override
public void updateInputs(ShooterIOInputs inputs) {
+ topTargetVelocity = inputs.shooterState.topRPM.in(RPM);
+ bottomTargetVelocity = inputs.shooterState.bottomRPM.in(RPM);
+ topController.setReference(topTargetVelocity, ControlType.kVelocity);
+ bottomController.setReference(bottomTargetVelocity, ControlType.kVelocity);
+
sparkStickyFault = false;
ifOk(topShooter, topEncoder::getPosition, position -> inputs.topShooterPositionRad = position);
ifOk(
@@ -114,13 +120,12 @@ public void updateInputs(ShooterIOInputs inputs) {
current -> inputs.bottomShooterCurrentAmps = current);
inputs.bottomConnected = bottomConnectedDebounce.calculate(!sparkStickyFault);
inputs.bottomShooterVelocityRadPerSec = bottomTargetVelocity;
+
+ inputs.shooterState = state;
}
@Override
- public void setVelocity(AngularVelocity topVelocity, AngularVelocity bottomVelocity) {
- topTargetVelocity = topVelocity.in(RadiansPerSecond);
- bottomTargetVelocity = bottomVelocity.in(RadiansPerSecond);
- topController.setReference(topTargetVelocity, ControlType.kVelocity);
- bottomController.setReference(bottomTargetVelocity, ControlType.kVelocity);
+ public void setShooterState(ShooterConstants.ShooterState state) {
+ this.state = state;
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/Vision.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/Vision.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/vision/Vision.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/Vision.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIO.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIO.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIO.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
similarity index 74%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
index 257a5b8..41ee235 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
@@ -13,6 +13,8 @@
package frc.robot.subsystems.vision;
+import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT;
+
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
@@ -83,6 +85,29 @@ public void updateInputs(VisionIOInputs inputs) {
multitagResult.fiducialIDsUsed.size(), // Tag count
totalTagDistance / result.targets.size(), // Average tag distance
PoseObservationType.PHOTONVISION)); // Observation type
+ } else if (!result.targets.isEmpty()) { // Single tag result
+ var target = result.targets.get(0);
+ // Calculate robot pose
+ var tagPose = APRILTAG_LAYOUT.getTagPose(target.fiducialId);
+ if (tagPose.isPresent()) {
+ Transform3d fieldToTarget =
+ new Transform3d(tagPose.get().getTranslation(), tagPose.get().getRotation());
+ Transform3d cameraToTarget = target.bestCameraToTarget;
+ Transform3d fieldToCamera = fieldToTarget.plus(cameraToTarget.inverse());
+ Transform3d fieldToRobot = fieldToCamera.plus(robotToCamera.inverse());
+ Pose3d robotPose = new Pose3d(fieldToRobot.getTranslation(), fieldToRobot.getRotation());
+ // Add tag ID
+ tagIds.add((short) target.fiducialId);
+ // Add observation
+ poseObservations.add(
+ new PoseObservation(
+ result.getTimestampSeconds(), // Timestamp
+ robotPose, // 3D pose estimate
+ target.poseAmbiguity, // Ambiguity
+ 1, // Tag count
+ cameraToTarget.getTranslation().getNorm(), // Average tag distance
+ PoseObservationType.PHOTONVISION)); // Observation type
+ }
}
}
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
similarity index 85%
rename from AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
index 9422d5e..15efbcb 100644
--- a/AdvKit2024/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
@@ -16,6 +16,7 @@
import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT;
import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
import java.util.function.Supplier;
import org.photonvision.simulation.PhotonCameraSim;
@@ -48,8 +49,14 @@ public VisionIOPhotonVisionSim(
// Add sim camera
var cameraProperties = new SimCameraProperties();
+ cameraProperties.setFPS(100);
+ cameraProperties.setCalibration(1280, 800, Rotation2d.fromDegrees(79.09420732));
+ cameraProperties.setAvgLatencyMs(50);
+ cameraProperties.setLatencyStdDevMs(35);
+ cameraProperties.setCalibError(0.35, 0.10);
cameraSim = new PhotonCameraSim(camera, cameraProperties);
visionSim.addCamera(cameraSim, robotToCamera);
+ cameraSim.enableDrawWireframe(true); // http://localhost:1182/
}
@Override
diff --git a/AdvKit2024/src/main/java/frc/robot/util/LocalADStarAK.java b/FlexAdvKit2025/src/main/java/frc/robot/util/LocalADStarAK.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/util/LocalADStarAK.java
rename to FlexAdvKit2025/src/main/java/frc/robot/util/LocalADStarAK.java
diff --git a/AdvKit2024/src/main/java/frc/robot/util/PhoenixUtil.java b/FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java
similarity index 94%
rename from AdvKit2024/src/main/java/frc/robot/util/PhoenixUtil.java
rename to FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java
index bc397c8..bcdf0c5 100644
--- a/AdvKit2024/src/main/java/frc/robot/util/PhoenixUtil.java
+++ b/FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java
@@ -28,7 +28,7 @@
import java.util.function.Supplier;
import org.ironmaple.simulation.motorsims.SimulatedBattery;
import org.ironmaple.simulation.motorsims.SimulatedMotorController;
-import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape;
public final class PhoenixUtil {
/** Attempts to run the command until no error is produced. */
@@ -41,10 +41,10 @@ public static void tryUntilOk(int maxAttempts, Supplier command) {
public static double[] getSimulationOdometryTimeStamps() {
final double[] odometryTimeStamps =
- new double[Arena2024Crescendo.getSimulationSubTicksIn1Period()];
+ new double[Arena2025Reefscape.getSimulationSubTicksIn1Period()];
for (int i = 0; i < odometryTimeStamps.length; i++) {
odometryTimeStamps[i] =
- Timer.getFPGATimestamp() - 0.02 + i * Arena2024Crescendo.getSimulationDt().in(Seconds);
+ Timer.getFPGATimestamp() - 0.02 + i * Arena2025Reefscape.getSimulationDt().in(Seconds);
}
return odometryTimeStamps;
diff --git a/AdvKit2024/src/main/java/frc/robot/util/SparkUtil.java b/FlexAdvKit2025/src/main/java/frc/robot/util/SparkUtil.java
similarity index 100%
rename from AdvKit2024/src/main/java/frc/robot/util/SparkUtil.java
rename to FlexAdvKit2025/src/main/java/frc/robot/util/SparkUtil.java
diff --git a/FlexAdvKit2025/vendordeps/AdvantageKit.json b/FlexAdvKit2025/vendordeps/AdvantageKit.json
new file mode 100644
index 0000000..1fa7c03
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/AdvantageKit.json
@@ -0,0 +1,34 @@
+{
+ "fileName": "AdvantageKit.json",
+ "name": "AdvantageKit",
+ "version": "4.0.0",
+ "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+ ],
+ "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+ "javaDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-java",
+ "version": "4.0.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-wpilibio",
+ "version": "4.0.0",
+ "skipInvalidPlatforms": false,
+ "isJar": false,
+ "validPlatforms": [
+ "linuxathena",
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "cppDependencies": []
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json b/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json
new file mode 100644
index 0000000..e96f4f9
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json
@@ -0,0 +1,44 @@
+{
+ "fileName": "ChoreoLib-2025.0.0.json",
+ "name": "ChoreoLib",
+ "version": "2025.0.0",
+ "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://lib.choreo.autos/dep",
+ "https://repo1.maven.org/maven2"
+ ],
+ "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json",
+ "javaDependencies": [
+ {
+ "groupId": "choreo",
+ "artifactId": "ChoreoLib-java",
+ "version": "2025.0.0"
+ },
+ {
+ "groupId": "com.google.code.gson",
+ "artifactId": "gson",
+ "version": "2.11.0"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "choreo",
+ "artifactId": "ChoreoLib-cpp",
+ "version": "2025.0.0",
+ "libName": "ChoreoLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal",
+ "linuxathena",
+ "linuxarm32",
+ "linuxarm64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json b/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json
new file mode 100644
index 0000000..6322388
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json
@@ -0,0 +1,38 @@
+{
+ "fileName": "PathplannerLib-2025.1.1.json",
+ "name": "PathplannerLib",
+ "version": "2025.1.1",
+ "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+ ],
+ "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-java",
+ "version": "2025.1.1"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-cpp",
+ "version": "2025.1.1",
+ "libName": "PathplannerLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal",
+ "linuxathena",
+ "linuxarm32",
+ "linuxarm64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json b/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json
new file mode 100644
index 0000000..473f6a8
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json
@@ -0,0 +1,389 @@
+{
+ "fileName": "Phoenix6-25.1.0.json",
+ "name": "CTRE-Phoenix (v6)",
+ "version": "25.1.0",
+ "frcYear": "2025",
+ "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-frc2025-latest.json",
+ "conflictsWith": [
+ {
+ "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+ "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+ "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-java",
+ "version": "25.1.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "api-cpp",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "25.1.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-cpp",
+ "version": "25.1.0",
+ "libName": "CTRE_Phoenix6_WPI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "25.1.0",
+ "libName": "CTRE_PhoenixTools",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "25.1.0",
+ "libName": "CTRE_Phoenix6_WPISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "25.1.0",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "25.1.0",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "25.1.0",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "25.1.0",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "25.1.0",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "25.1.0",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "25.1.0",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "25.1.0",
+ "libName": "CTRE_SimProPigeon2",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "25.1.0",
+ "libName": "CTRE_SimProCANrange",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/vendordeps/REVLib-2025.0.0.json b/FlexAdvKit2025/vendordeps/REVLib-2025.0.0.json
new file mode 100644
index 0000000..cde6011
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/REVLib-2025.0.0.json
@@ -0,0 +1,74 @@
+{
+ "fileName": "REVLib-2025.0.0.json",
+ "name": "REVLib",
+ "version": "2025.0.0",
+ "frcYear": "2025",
+ "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+ "mavenUrls": [
+ "https://maven.revrobotics.com/"
+ ],
+ "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-java",
+ "version": "2025.0.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2025.0.0",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxarm64",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxarm32",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-cpp",
+ "version": "2025.0.0",
+ "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": "2025.0.0",
+ "libName": "REVLibDriver",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxarm64",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxarm32",
+ "osxuniversal"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/AdvKit2024/vendordeps/WPILibNewCommands.json b/FlexAdvKit2025/vendordeps/WPILibNewCommands.json
similarity index 100%
rename from AdvKit2024/vendordeps/WPILibNewCommands.json
rename to FlexAdvKit2025/vendordeps/WPILibNewCommands.json
diff --git a/FlexAdvKit2025/vendordeps/maple-sim.json b/FlexAdvKit2025/vendordeps/maple-sim.json
new file mode 100644
index 0000000..973c04c
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/maple-sim.json
@@ -0,0 +1,26 @@
+{
+ "fileName": "maple-sim.json",
+ "name": "maplesim",
+ "version": "0.3.0",
+ "frcYear": "2025",
+ "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
+ "mavenUrls": [
+ "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
+ "https://repo1.maven.org/maven2"
+ ],
+ "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
+ "javaDependencies": [
+ {
+ "groupId": "org.ironmaple",
+ "artifactId": "maplesim-java",
+ "version": "0.3.0"
+ },
+ {
+ "groupId": "org.dyn4j",
+ "artifactId": "dyn4j",
+ "version": "5.0.2"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": []
+}
\ No newline at end of file
diff --git a/FlexAdvKit2025/vendordeps/photonlib.json b/FlexAdvKit2025/vendordeps/photonlib.json
new file mode 100644
index 0000000..db43d6d
--- /dev/null
+++ b/FlexAdvKit2025/vendordeps/photonlib.json
@@ -0,0 +1,71 @@
+{
+ "fileName": "photonlib.json",
+ "name": "photonlib",
+ "version": "v2025.0.0-beta-8",
+ "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+ "frcYear": "2025",
+ "mavenUrls": [
+ "https://maven.photonvision.org/repository/internal",
+ "https://maven.photonvision.org/repository/snapshots"
+ ],
+ "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+ "jniDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-cpp",
+ "version": "v2025.0.0-beta-8",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photonlib-cpp",
+ "version": "v2025.0.0-beta-8",
+ "libName": "photonlib",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ },
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-cpp",
+ "version": "v2025.0.0-beta-8",
+ "libName": "photontargeting",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photonlib-java",
+ "version": "v2025.0.0-beta-8"
+ },
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "photontargeting-java",
+ "version": "v2025.0.0-beta-8"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/FlexReboot/src/main/deploy/pathplanner/autos/TestAuto.auto b/FlexReboot/src/main/deploy/pathplanner/autos/TestAuto.auto
deleted file mode 100644
index 6777704..0000000
--- a/FlexReboot/src/main/deploy/pathplanner/autos/TestAuto.auto
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "version": 1.0,
- "startingPose": {
- "position": {
- "x": 0.6,
- "y": 7.2
- },
- "rotation": 0.0
- },
- "command": {
- "type": "sequential",
- "data": {
- "commands": [
- {
- "type": "path",
- "data": {
- "pathName": "TestPath"
- }
- }
- ]
- }
- },
- "folder": null,
- "choreoAuto": true
-}
\ No newline at end of file
diff --git a/FlexReboot/src/main/deploy/pathplanner/settings.json b/FlexReboot/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..3b5b754
--- /dev/null
+++ b/FlexReboot/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,21 @@
+{
+ "robotWidth": 0.81,
+ "robotLength": 0.81,
+ "holonomicMode": true,
+ "pathFolders": [],
+ "autoFolders": [],
+ "defaultMaxVel": 3.0,
+ "defaultMaxAccel": 3.0,
+ "defaultMaxAngVel": 540.0,
+ "defaultMaxAngAccel": 720.0,
+ "robotMass": 115.0,
+ "robotMOI": 6.883,
+ "robotWheelbase": 0.4953,
+ "robotTrackwidth": 0.4953,
+ "driveWheelRadius": 0.0557,
+ "driveGearing": 5.1428,
+ "maxDriveSpeed": 7.0,
+ "driveMotorType": "krakenX60",
+ "driveCurrentLimit": 120.0,
+ "wheelCOF": 1.19
+}
\ No newline at end of file
diff --git a/PIDTars/deploy/pathplanner/navgrid.json b/PIDTars/deploy/pathplanner/navgrid.json
deleted file mode 100644
index bab0da9..0000000
--- a/PIDTars/deploy/pathplanner/navgrid.json
+++ /dev/null
@@ -1 +0,0 @@
-{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file