More work

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()
+'''

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

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

src/components/vision.py

@@ -0,0 +1,6 @@
+
+class Limelight:
+    def setup(self):
+        pass
+    def execute(self):
+        pass

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

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"]

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"""