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Castor2026
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Merge remote-tracking branch 'origin/main' into FRCCompIntakeMan

This commit is contained in:
TheRealGrayden 2026-03-21 10:18:34 -04:00
parent f0f86c8d65 6fa1963d10
commit d18e755bb2
6 changed files with 134 additions and 51 deletions
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13
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,8 +4,13 @@
package frc.robot;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.AutoBuilderException;
import edu.wpi.first.units.Unit;
import edu.wpi.first.units.Units;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@ -38,6 +43,8 @@ public class RobotContainer {
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
private final SendableChooser<Command> autoChooser;
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
@ -48,6 +55,10 @@ public class RobotContainer {
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
// Configure the trigger bindings
configureBindings();
@ -89,6 +100,6 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
// An example command will be run in autonomous
return Autos.exampleAuto(m_exampleSubsystem);
return autoChooser.getSelected();
}
}

42
src/main/java/frc/robot/subsystems/DriveSubsystem.java
View File

@ -9,8 +9,13 @@ import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
import org.littletonrobotics.junction.Logger;
import com.fasterxml.jackson.annotation.JsonCreator.Mode;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@ -132,11 +137,37 @@ public class DriveSubsystem extends TestableSubsystem {
Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose());
Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose3d());
}
}, this));
RobotConfig config;
try {
config = RobotConfig.fromGUISettings();
AutoBuilder.configure(
driveSystem::getRobotPose2d,
driveSystem::setPose2d,
driveSystem::getRobotRelativeSpeeds,
(speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()),
new PPHolonomicDriveController(
new PIDConstants(5.0, 0, 0),
new PIDConstants(5.0, 0, 0)),
config,
() -> {
var alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
},
this);
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
@ -157,9 +188,12 @@ public class DriveSubsystem extends TestableSubsystem {
SwerveModule[] modules = driveSystem.getModules();
for (int i = 0; i < modules.length; i++) {
assertThat(modules[i].getDriveMotor().isConnected()).as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
assertThat(modules[i].getSteerMotor().isConnected()).as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
assertThat(modules[i].getSteerEncoder().isConnected()).as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
assertThat(modules[i].getDriveMotor().isConnected())
.as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
assertThat(modules[i].getSteerMotor().isConnected())
.as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
assertThat(modules[i].getSteerEncoder().isConnected())
.as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
}
assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue();

6
vendordeps/AdvantageKit.json
View File

@ -1,7 +1,7 @@
{
"fileName": "AdvantageKit.json",
"name": "AdvantageKit",
"version": "26.0.1",
"version": "26.0.2",
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
"frcYear": "2026",
"mavenUrls": [
@ -12,14 +12,14 @@
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-java",
"version": "26.0.1"
"version": "26.0.2"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-wpilibio",
"version": "26.0.1",
"version": "26.0.2",
"skipInvalidPlatforms": false,
"isJar": false,
"validPlatforms": [

38
vendordeps/PathplannerLib-2026.1.2.json Normal file
View File

@ -0,0 +1,38 @@
{
"fileName": "PathplannerLib-2026.1.2.json",
"name": "PathplannerLib",
"version": "2026.1.2",
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
"frcYear": "2026",
"mavenUrls": [
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
],
"jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
"javaDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2026.1.2"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2026.1.2",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal",
"linuxathena",
"linuxarm32",
"linuxarm64"
]
}
]
}

62
vendordeps/Phoenix6-26.1.1.json → vendordeps/Phoenix6-26.1.2.json
View File

@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-26.1.1.json",
"fileName": "Phoenix6-26.1.2.json",
"name": "CTRE-Phoenix (v6)",
"version": "26.1.1",
"version": "26.1.2",
"frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.1.1"
"version": "26.1.2"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -194,7 +194,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -208,7 +208,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.1",
"version": "26.1.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@ -224,7 +224,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -240,7 +240,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -256,7 +256,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.1",
"version": "26.1.2",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,

18
vendordeps/REVLib.json
View File

@ -1,7 +1,7 @@
{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2026.0.4",
"version": "2026.0.5",
"frcYear": "2026",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
@ -12,14 +12,14 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2026.0.4"
"version": "2026.0.5"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"version": "2026.0.5",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@ -34,7 +34,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"version": "2026.0.5",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@ -49,7 +49,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"version": "2026.0.5",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@ -66,7 +66,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2026.0.4",
"version": "2026.0.5",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
@ -83,7 +83,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"version": "2026.0.5",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
@ -100,7 +100,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"version": "2026.0.5",
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
@ -116,7 +116,7 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"version": "2026.0.5",
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,