From 64d58fcfd8104a21ae16bf4d01136d80b3e81647 Mon Sep 17 00:00:00 2001
From: Mike Silva <mike.a.silva@gmail.com>
Date: Mon, 26 Jan 2026 20:53:07 -0500
Subject: [PATCH] More work

---
 src/components/gyro.py         |  5 +++--
 src/components/intake.py       |  6 ++++++
 src/components/swervemodule.py | 22 ++++++++++++++++++++++
 src/components/vision.py       |  6 ++++++
 src/constants.py               | 24 ++++++++++++++++++++++++
 src/pyproject.toml             |  2 +-
 src/robot.py                   |  5 +++--
 7 files changed, 65 insertions(+), 5 deletions(-)
 create mode 100644 src/components/swervemodule.py
 create mode 100644 src/components/vision.py

diff --git a/src/components/gyro.py b/src/components/gyro.py
index ebc66ba..9b31e64 100644
--- a/src/components/gyro.py
+++ b/src/components/gyro.py
@@ -1,6 +1,6 @@
 import math
 from phoenix6.hardware.pigeon2 import Pigeon2
-import navx
+#import navx
 
 
 class Pigeon:
@@ -33,7 +33,7 @@ class Pigeon:
     def set_yaw(self, angle):
         self.gyro.set_yaw(angle)
 
-
+'''
 class NavX:
     gyro: navx.AHRS  # Either navx.AHRS.create_spi() or navx.AHRS.create_i2c()
 
@@ -72,3 +72,4 @@ class NavX:
 
     def zero_yaw(self) -> None:
         self.gyro.zeroYaw()
+'''
\ No newline at end of file
diff --git a/src/components/intake.py b/src/components/intake.py
index b7c82a2..12af728 100644
--- a/src/components/intake.py
+++ b/src/components/intake.py
@@ -24,5 +24,11 @@ class Intake:
     def retract(self):
         pass  # Implement retraction logic here
 
+    def spin(self):
+        self.voltage = 1
+
+    def stop(self):
+        self.voltage = 0
+
     def set_voltage(self, voltage: units.volts):
         self.voltage = voltage
diff --git a/src/components/swervemodule.py b/src/components/swervemodule.py
new file mode 100644
index 0000000..186d602
--- /dev/null
+++ b/src/components/swervemodule.py
@@ -0,0 +1,22 @@
+import math
+
+class SwerveModule:
+    name: str
+    drive_id: int
+    drive_P: float
+    drive_I: float
+    drive_D: float
+    turning_id: int
+    turning_P: float
+    turning_I: float
+    turning_D: float
+    encoder_id: int
+    gear_ratio: float
+    wheel_diameter: float    
+    
+    def setup(self):
+        self.max_angular_velocity = math.pi
+        self.max_angular_acceleration = math.tau
+
+    def execute(self):
+        pass
\ No newline at end of file
diff --git a/src/components/vision.py b/src/components/vision.py
new file mode 100644
index 0000000..0df1830
--- /dev/null
+++ b/src/components/vision.py
@@ -0,0 +1,6 @@
+
+class Limelight:
+    def setup(self):
+        pass
+    def execute(self):
+        pass
\ No newline at end of file
diff --git a/src/constants.py b/src/constants.py
index b409627..76bb71f 100644
--- a/src/constants.py
+++ b/src/constants.py
@@ -1,6 +1,30 @@
+import enum
+
 # Should we apply deadband correction to the controller inputs?
 CONTROLLER_CORRECT_FOR_DEADBAND = True
 # The deadband for the controller joysticks
 CONTROLLER_DEADBAND = 0.3
 # The port the controller is connected to
 CONTROLLER_PORT = 0
+
+@enum.unique
+class CANID(enum.IntEnum):
+    # CAN IDs for motors and other devices
+    FRONT_LEFT_DRIVE = 12
+    FRONT_LEFT_STEER = 3
+    FRONT_LEFT_STEER_ENCODER = 10
+    
+    FRONT_RIGHT_DRIVE = 5   
+    FRONT_RIGHT_STEER = 6
+    FRONT_RIGHT_STEER_ENCODER = 4
+    
+    REAR_RIGHT_DRIVE = 9
+    REAR_RIGHT_STEER = 11
+    REAR_RIGHT_STEER_ENCODER = 4
+
+    REAR_LEFT_DRIVE = 8
+    REAR_LEFT_STEER = 2
+    REAR_LEFT_STEER_ENCODER = 7
+    
+    # Pigeon2 IMU
+    PIGEON = 20
\ No newline at end of file
diff --git a/src/pyproject.toml b/src/pyproject.toml
index 5da83eb..44a4d8d 100644
--- a/src/pyproject.toml
+++ b/src/pyproject.toml
@@ -22,4 +22,4 @@ components = [
 
 # Other pip packages to install, such as vendor packages (each element
 # is equivalent to a line in requirements.txt)
-requires = ["phoenix6"]
+requires = ["phoenix6", "robotpy-pykit"]
diff --git a/src/robot.py b/src/robot.py
index 6089b15..8b73329 100644
--- a/src/robot.py
+++ b/src/robot.py
@@ -1,11 +1,12 @@
 import components
 import constants
 import genie
-
+from pykit.logger import Logger
 
 class MyRobot(genie.GenieRobot):
     controller: components.XboxController
-    pigeon: components.Pigeon
+    #pigeon: components.Pigeon
+    logger: Logger
 
     def createObjects(self):
         """Create motors and stuff here"""