From 41d8d898456a30ba7760d1acbb1bff1ab16602ae Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Thu, 12 Mar 2026 12:31:55 -0400 Subject: [PATCH 01/14] Comp branch --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 9a4bb94..5f5fced 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "${wpiVersion}" + id "edu.wpi.first.GradleRIO" version "2026.2.1" } java { From 7bce2b2a008b1d4ca8ba399e99f22755a0b6417c Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Thu, 12 Mar 2026 14:45:36 -0400 Subject: [PATCH 02/14] Temporary manual commands for intake, these are TEMPORARY, delete as soon as limit switches are in place. These are NOT GOOD. These are THE BARE NECESITY. --- src/main/java/frc/robot/RobotContainer.java | 8 ++- .../java/frc/robot/commands/ManualIntake.java | 62 +++++++++++++++++++ .../frc/robot/subsystems/IntakeSubsystem.java | 19 +++++- 3 files changed, 85 insertions(+), 4 deletions(-) create mode 100644 src/main/java/frc/robot/commands/ManualIntake.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 42d7e0a..203d5f7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -70,9 +70,13 @@ public class RobotContainer { m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); - m_driverController.y().onTrue(intakeSubsystem.deployCommand()); + /*m_driverController.y().onTrue(intakeSubsystem.deployCommand()); m_driverController.a().onTrue(intakeSubsystem.retractCommand()); - m_driverController.b().onTrue(intakeSubsystem.reverseCommand()); + m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ + + m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); + m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); + m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); } /** diff --git a/src/main/java/frc/robot/commands/ManualIntake.java b/src/main/java/frc/robot/commands/ManualIntake.java new file mode 100644 index 0000000..3ba0dbb --- /dev/null +++ b/src/main/java/frc/robot/commands/ManualIntake.java @@ -0,0 +1,62 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import frc.robot.subsystems.IntakeSubsystem; + +import javax.lang.model.util.ElementScanner14; + +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; + +/** An example command that uses an example subsystem. */ +public class ManualIntake extends Command { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private final IntakeSubsystem m_subsystem; + private final XboxController m_XboxController; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public ManualIntake(IntakeSubsystem subsystem, XboxController xboxController) { + m_subsystem = subsystem; + m_XboxController = xboxController; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(subsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if(m_XboxController.getRightBumper()==true) + { + m_subsystem.extend(); + } + else if(m_XboxController.getLeftBumper()==true) + { + m_subsystem.retract(); + } + else + { + m_subsystem.neutral(); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index d0e5eb0..6ec7f39 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -69,12 +69,12 @@ public class IntakeSubsystem extends TestableSubsystem { public Command deployCommand() { - return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(50), () -> setSpeed(0), this)); + return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(.5), () -> setSpeed(0), this)); } public Command reverseCommand() { - return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-50), () -> setSpeed(0), this)); + return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-.5), () -> setSpeed(0), this)); } public Command retractCommand() @@ -82,6 +82,21 @@ public class IntakeSubsystem extends TestableSubsystem { return this.runOnce(() -> setSpeed(0)).andThen(new FunctionalCommand(this::retract, this::retract, interrupted -> neutral(), this::isRetracted, this)); } + public Command startSpeedCommand() + { + return this.runOnce(() -> setSpeed(.5)); + } + + public Command killSpeedCommand() + { + return this.runOnce(() -> setSpeed(0)); + } + + public Command revSpeedCommand() + { + return this.runOnce(() -> setSpeed(-.5)); + } + @PostTest(name = "A friendly name", enabled = true) public void myFailingPostTest(){ assertThat(true).isFalse(); From c54efe42a5140780630e2fcb99a544ff928b0210 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Thu, 12 Mar 2026 19:15:44 -0400 Subject: [PATCH 03/14] Changes --- src/main/java/frc/robot/Constants.java | 28 +++++++++---------- src/main/java/frc/robot/RobotContainer.java | 6 ++-- .../robot/commands/ManualHopperCommand.java | 2 +- .../robot/commands/SetDeflectorCommand.java | 6 ++-- .../frc/robot/subsystems/TurretSubsystem.java | 6 ++-- 5 files changed, 27 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index eeab7a5..a4a205d 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -68,10 +68,10 @@ public final class Constants { } public static class IntakeConstants { - public static final int DEPLOY_MOTOR_ID = 12; - public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this + public static final int DEPLOY_MOTOR_ID = 17; + public static final boolean DEPLOY_MOTOR_INVERTED = false; // TODO: Test this - public static final int INTAKE_MOTOR_ID = 1; + public static final int INTAKE_MOTOR_ID = 0; public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this } @@ -79,31 +79,31 @@ public final class Constants { public static final int LAUNCHER_MOTOR_ID = 2; public static final boolean LAUNCHER_MOTOR_INVERTED = true; // TODO: Test this - public static final int TURRET_MOTOR_ID = 1; + public static final int TURRET_MOTOR_ID = 0; public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; public static final int TURRET_LIMIT_CHANNEL = 0; public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265); public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5); public static final double HOMING_SPEED = .35; - public static final double TURRET_GEAR_RATIO = 1; + public static final double TURRET_GEAR_RATIO = 0; - public static final int HOOD_SERVO_CHANNEL = 3; + public static final int HOOD_SERVO_CHANNEL = 0; public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this - public static final int HOOD_ENCODER_ID = 4; - public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1); - public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90); + public static final int HOOD_ENCODER_ID = 0; + public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(10000); + public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(0); public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0); - public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20); - public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40); - public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60); + public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(0); + public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(0); + public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(0); } public static class HopperConstants { - public static final int KICKER_MOTOR_ID = 0; + public static final int KICKER_MOTOR_ID = 9; public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; - public static final int SPINDEXER_MOTOR_ID = 1; + public static final int SPINDEXER_MOTOR_ID = 8; public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 203d5f7..b036368 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -65,12 +65,14 @@ public class RobotContainer { turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID())); hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID())); - m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); + //The shooter will tear its self apart if deflector moves, so dont move it + + /*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1)); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); - /*m_driverController.y().onTrue(intakeSubsystem.deployCommand()); + m_driverController.y().onTrue(intakeSubsystem.deployCommand()); m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java index fe7a2c5..02f9185 100644 --- a/src/main/java/frc/robot/commands/ManualHopperCommand.java +++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java @@ -22,7 +22,7 @@ public class ManualHopperCommand extends Command { // Called when the command is initially scheduled. @Override public void initialize() { - m_subsystem.spin(.5); + m_subsystem.spin(0); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc/robot/commands/SetDeflectorCommand.java b/src/main/java/frc/robot/commands/SetDeflectorCommand.java index a670ed0..0de002e 100644 --- a/src/main/java/frc/robot/commands/SetDeflectorCommand.java +++ b/src/main/java/frc/robot/commands/SetDeflectorCommand.java @@ -8,9 +8,11 @@ import frc.robot.subsystems.TurretSubsystem; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj2.command.Command; +//The Turret does NOT move, hood does NOT move, it will die + /** An example command that uses an example subsystem. **/ public class SetDeflectorCommand extends Command { - private final TurretSubsystem m_subsystem; + /*private final TurretSubsystem m_subsystem; private Angle deployAngle; public SetDeflectorCommand(TurretSubsystem subsystem, Angle deployAngle) { @@ -28,5 +30,5 @@ public class SetDeflectorCommand extends Command { @Override public boolean isFinished() { return true; - } + }*/ } diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 3806997..6ff3e83 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -126,7 +126,9 @@ public class TurretSubsystem extends TestableSubsystem { private void periodicManual() { - if(passedLimit()) + //If the hood or turret move, it will be a uh-oh, so DONT MOVE THEM + + /*if(passedLimit()) { //turretMotor.set(0); } @@ -151,6 +153,6 @@ public class TurretSubsystem extends TestableSubsystem { else { hood.set(0); - } + }*/ } } From 8b0dc4457dad4e0b9ddf4905fd3ad4d9dc9e20e4 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Thu, 12 Mar 2026 19:22:43 -0400 Subject: [PATCH 04/14] Fixed deploy command --- src/main/java/frc/robot/RobotContainer.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b036368..5705810 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,6 +13,7 @@ import frc.robot.Constants.OperatorConstants; import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; import frc.robot.commands.ManualHopperCommand; +import frc.robot.commands.ManualIntake; import frc.robot.commands.ManualShootCommand; import frc.robot.commands.SetDeflectorCommand; import frc.robot.subsystems.DriveSubsystem; @@ -79,6 +80,8 @@ public class RobotContainer { m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); + + intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID())); } /** From 63cb6d99bc09823e100d6fe019a2cf6f6ae8cd1f Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 08:41:19 -0400 Subject: [PATCH 05/14] Reenabled Deflector --- src/main/java/frc/robot/Constants.java | 10 +++++----- src/main/java/frc/robot/RobotContainer.java | 6 ++---- .../java/frc/robot/commands/SetDeflectorCommand.java | 6 ++---- .../java/frc/robot/subsystems/IntakeSubsystem.java | 10 ---------- .../java/frc/robot/subsystems/TurretSubsystem.java | 6 +++--- 5 files changed, 12 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a4a205d..8d08204 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -90,13 +90,13 @@ public final class Constants { public static final int HOOD_SERVO_CHANNEL = 0; public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this public static final int HOOD_ENCODER_ID = 0; - public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(10000); - public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(0); + public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(.5); + public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90); public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0); - public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(0); - public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(0); - public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(0); + public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20); + public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40); + public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60); } public static class HopperConstants { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5705810..cf42547 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -66,14 +66,12 @@ public class RobotContainer { turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID())); hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID())); - //The shooter will tear its self apart if deflector moves, so dont move it - - /*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); + m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1)); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); - m_driverController.y().onTrue(intakeSubsystem.deployCommand()); + /*m_driverController.y().onTrue(intakeSubsystem.deployCommand()); m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ diff --git a/src/main/java/frc/robot/commands/SetDeflectorCommand.java b/src/main/java/frc/robot/commands/SetDeflectorCommand.java index 0de002e..a670ed0 100644 --- a/src/main/java/frc/robot/commands/SetDeflectorCommand.java +++ b/src/main/java/frc/robot/commands/SetDeflectorCommand.java @@ -8,11 +8,9 @@ import frc.robot.subsystems.TurretSubsystem; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj2.command.Command; -//The Turret does NOT move, hood does NOT move, it will die - /** An example command that uses an example subsystem. **/ public class SetDeflectorCommand extends Command { - /*private final TurretSubsystem m_subsystem; + private final TurretSubsystem m_subsystem; private Angle deployAngle; public SetDeflectorCommand(TurretSubsystem subsystem, Angle deployAngle) { @@ -30,5 +28,5 @@ public class SetDeflectorCommand extends Command { @Override public boolean isFinished() { return true; - }*/ + } } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 6ec7f39..26af31d 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -96,14 +96,4 @@ public class IntakeSubsystem extends TestableSubsystem { { return this.runOnce(() -> setSpeed(-.5)); } - - @PostTest(name = "A friendly name", enabled = true) - public void myFailingPostTest(){ - assertThat(true).isFalse(); - } - - @PostTest(enabled = true) - public void myPassingPostTest(){ - assertThat("Hello World").endWith("World"); - } } diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 6ff3e83..0b40532 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -126,12 +126,12 @@ public class TurretSubsystem extends TestableSubsystem { private void periodicManual() { - //If the hood or turret move, it will be a uh-oh, so DONT MOVE THEM + //If the turret move, it will be a uh-oh, so DONT MOVE IT /*if(passedLimit()) { //turretMotor.set(0); - } + }*/ int k = 1; if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) { @@ -153,6 +153,6 @@ public class TurretSubsystem extends TestableSubsystem { else { hood.set(0); - }*/ + } } } From 0801c897a86af431ed1ee0ecadc09d9566c44a47 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 10:52:36 -0400 Subject: [PATCH 06/14] updates --- src/main/java/frc/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 8d08204..35ee75a 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -87,7 +87,7 @@ public final class Constants { public static final double HOMING_SPEED = .35; public static final double TURRET_GEAR_RATIO = 0; - public static final int HOOD_SERVO_CHANNEL = 0; + public static final int HOOD_SERVO_CHANNEL = 9; public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this public static final int HOOD_ENCODER_ID = 0; public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(.5); From 4f96a77c79a2d2d796a6e85c41f313c82cde85b5 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 11:08:07 -0400 Subject: [PATCH 07/14] Field relitive drive now, update rate 150 --- src/main/java/frc/robot/subsystems/DriveSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index c332dd2..8fec12d 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -123,7 +123,7 @@ public class DriveSubsystem extends TestableSubsystem { @Override public void run() { - driveSystem.setChassisSpeedsFromJoystickRobotRelative( + driveSystem.setChassisSpeedsFromJoystickFieldRelative( -(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())), -(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())), -(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4)))); From cd879c103fa033045f0d35ca3e4b9696730d8127 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 11:12:39 -0400 Subject: [PATCH 08/14] RoboLibUpdate --- lib/RoboLib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/RoboLib b/lib/RoboLib index 915b14b..f74409b 160000 --- a/lib/RoboLib +++ b/lib/RoboLib @@ -1 +1 @@ -Subproject commit 915b14b4c7023240ac1e70d6af3558d38770153c +Subproject commit f74409b80639448585574d77bc47f9564730cf0c From de006e7430ce44a3163b7a2331057de442e83f20 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 14:37:38 -0400 Subject: [PATCH 09/14] Updates to shooter --- src/main/java/frc/robot/RobotContainer.java | 6 ++-- .../robot/commands/ManualShootCommand.java | 1 + .../frc/robot/subsystems/TurretSubsystem.java | 29 +------------------ 3 files changed, 5 insertions(+), 31 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cf42547..d2ce347 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -40,7 +40,7 @@ public class RobotContainer { public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); - public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); + //public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); public final TurretSubsystem turretSubsystem = new TurretSubsystem(); @@ -75,11 +75,11 @@ public class RobotContainer { m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ - m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); + /*m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); - intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID())); + intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));*/ } /** diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java index 3827b32..8a23efb 100644 --- a/src/main/java/frc/robot/commands/ManualShootCommand.java +++ b/src/main/java/frc/robot/commands/ManualShootCommand.java @@ -26,6 +26,7 @@ public class ManualShootCommand extends Command { if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5) { m_subsystem.setLauncher(1); + System.out.println("Test"); } else { diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 0b40532..eb162e0 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -33,11 +33,9 @@ public class TurretSubsystem extends TestableSubsystem { //private TalonFX turretMotor; private SparkMax launcherMotor; private Servo hood; - private CANcoder hoodEncoder; private Angle limitPos; private Angle limitNeg; private boolean turretGoingPos; - private Angle targElev; public TurretSubsystem() { turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL); @@ -50,22 +48,17 @@ public class TurretSubsystem extends TestableSubsystem { config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL); - hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID); currentState = TurretState.INIT; limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG; limitPos = Constants.ShooterConstants.LIMIT_AXIMUTH_POS; turretGoingPos = false; - targElev = edu.wpi.first.units.Units.Degrees.of(45); } public void setLauncher(double speed) {launcherMotor.set(speed);} public void setTargetElevation(Angle elev) { - if(elev.gt(Constants.ShooterConstants.LIMIT_ELEVATION_NEG) && elev.lt(Constants.ShooterConstants.LIMIT_ELEVATION_POS)) - { - targElev=elev; - } + hood.setAngle(elev.in(Units.Degrees)); } public void startHoming() @@ -133,26 +126,6 @@ public class TurretSubsystem extends TestableSubsystem { //turretMotor.set(0); }*/ - int k = 1; - if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) { - k=-1; - } - Angle curElev = hoodEncoder.getAbsolutePosition().getValue(); - if(targElev.minus(curElev).abs(Units.Degrees)>Constants.ShooterConstants.TARGET_ELEVATION_DIF.in(Units.Degrees)) - { - if(targElev.gt(curElev)) - { - hood.set(k * 0.5); - } - else - { - hood.set(k * -0.5); - } - } - else - { - hood.set(0); - } } } From 65c6462d97ec53e74e40babc59993be3f144603c Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Fri, 13 Mar 2026 16:17:15 -0400 Subject: [PATCH 10/14] Emergency intake changes --- src/main/java/frc/robot/Constants.java | 2 ++ src/main/java/frc/robot/RobotContainer.java | 6 +++--- src/main/java/frc/robot/commands/ManualHopperCommand.java | 3 ++- src/main/java/frc/robot/commands/ManualIntake.java | 4 ++-- src/main/java/frc/robot/subsystems/TurretSubsystem.java | 3 +++ 5 files changed, 12 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 35ee75a..6f93fdb 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -8,6 +8,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.units.Unit; import edu.wpi.first.units.measure.Angle; import java.security.PublicKey; +import java.util.Queue; import com.ctre.phoenix6.signals.InvertedValue; @@ -105,5 +106,6 @@ public final class Constants { public static final int SPINDEXER_MOTOR_ID = 8; public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; + public static final double SPINDEXER_MOTOR_SPEED = 0; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d2ce347..cf42547 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -40,7 +40,7 @@ public class RobotContainer { public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); - //public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); + public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); public final TurretSubsystem turretSubsystem = new TurretSubsystem(); @@ -75,11 +75,11 @@ public class RobotContainer { m_driverController.a().onTrue(intakeSubsystem.retractCommand()); m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/ - /*m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); + m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); - intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));*/ + intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID())); } /** diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java index 02f9185..ac28df7 100644 --- a/src/main/java/frc/robot/commands/ManualHopperCommand.java +++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java @@ -4,6 +4,7 @@ package frc.robot.commands; +import frc.robot.Constants; import frc.robot.subsystems.HopperSubsystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; @@ -22,7 +23,7 @@ public class ManualHopperCommand extends Command { // Called when the command is initially scheduled. @Override public void initialize() { - m_subsystem.spin(0); + m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc/robot/commands/ManualIntake.java b/src/main/java/frc/robot/commands/ManualIntake.java index 3ba0dbb..1359be0 100644 --- a/src/main/java/frc/robot/commands/ManualIntake.java +++ b/src/main/java/frc/robot/commands/ManualIntake.java @@ -36,11 +36,11 @@ public class ManualIntake extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(m_XboxController.getRightBumper()==true) + if(m_XboxController.getLeftBumper()==true) { m_subsystem.extend(); } - else if(m_XboxController.getLeftBumper()==true) + else if(m_XboxController.getRightBumper()==true) { m_subsystem.retract(); } diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index eb162e0..57f181a 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -58,6 +58,9 @@ public class TurretSubsystem extends TestableSubsystem { public void setTargetElevation(Angle elev) { + if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){ + elev=Units.Degrees.of(300).minus(elev); + } hood.setAngle(elev.in(Units.Degrees)); } From a4253cfd350d0bc627437d012827840ca2e9fd01 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 14 Mar 2026 09:53:50 -0400 Subject: [PATCH 11/14] Control changes --- src/main/java/frc/robot/Constants.java | 6 +++--- src/main/java/frc/robot/RobotContainer.java | 2 +- .../frc/robot/commands/ManualHopperCommand.java | 5 ++++- .../frc/robot/commands/ManualShootCommand.java | 16 ++++++++++++++-- .../frc/robot/subsystems/IntakeSubsystem.java | 4 ++-- .../frc/robot/subsystems/TurretSubsystem.java | 12 +++++------- 6 files changed, 29 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 6f93fdb..d4c201a 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -102,10 +102,10 @@ public final class Constants { public static class HopperConstants { public static final int KICKER_MOTOR_ID = 9; - public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; + public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; public static final int SPINDEXER_MOTOR_ID = 8; - public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; - public static final double SPINDEXER_MOTOR_SPEED = 0; + public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; + public static final double SPINDEXER_MOTOR_SPEED = .6; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cf42547..15afb32 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -77,7 +77,7 @@ public class RobotContainer { m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand()); m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand()); - m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); + //m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand()); intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID())); } diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java index ac28df7..e9b4cea 100644 --- a/src/main/java/frc/robot/commands/ManualHopperCommand.java +++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java @@ -23,7 +23,10 @@ public class ManualHopperCommand extends Command { // Called when the command is initially scheduled. @Override public void initialize() { - m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); + if(m_xboxController.getRightBumper()) + { + m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); + } } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java index 8a23efb..d88a933 100644 --- a/src/main/java/frc/robot/commands/ManualShootCommand.java +++ b/src/main/java/frc/robot/commands/ManualShootCommand.java @@ -6,6 +6,7 @@ package frc.robot.commands; import frc.robot.subsystems.TurretSubsystem; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj2.command.Command; /** An example command that uses an example subsystem. */ @@ -23,14 +24,25 @@ public class ManualShootCommand extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5) + if(m_controller.getRightTriggerAxis()>.4) + { + m_subsystem.setLauncher(.6); + m_controller.setRumble(RumbleType.kBothRumble, .33); + } + else if(m_controller.getRightTriggerAxis()>.6) + { + m_subsystem.setLauncher(.8); + m_controller.setRumble(RumbleType.kBothRumble, .67); + } + else if(m_controller.getRightTriggerAxis()>.8) { m_subsystem.setLauncher(1); - System.out.println("Test"); + m_controller.setRumble(RumbleType.kBothRumble, 1); } else { m_subsystem.setLauncher(0); + m_controller.setRumble(RumbleType.kBothRumble, 0); } } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 26af31d..875f303 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -84,7 +84,7 @@ public class IntakeSubsystem extends TestableSubsystem { public Command startSpeedCommand() { - return this.runOnce(() -> setSpeed(.5)); + return this.runOnce(() -> setSpeed(-.5)); } public Command killSpeedCommand() @@ -94,6 +94,6 @@ public class IntakeSubsystem extends TestableSubsystem { public Command revSpeedCommand() { - return this.runOnce(() -> setSpeed(-.5)); + return this.runOnce(() -> setSpeed(.5)); } } diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 57f181a..4a70432 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -67,21 +67,21 @@ public class TurretSubsystem extends TestableSubsystem { public void startHoming() { //turretMotor.set(Constants.ShooterConstants.HOMING_SPEED); - currentState = TurretState.HOMING; + //currentState = TurretState.HOMING; } public void startRotate(double speed) { - turretGoingPos=speed>0; + /*turretGoingPos=speed>0; if(!passedLimit()) { - //turretMotor.set(speed); + turretMotor.set(speed); } else { - //turretMotor.set(0); - } + turretMotor.set(0); + }*/ } public boolean passedLimit(){ @@ -128,7 +128,5 @@ public class TurretSubsystem extends TestableSubsystem { { //turretMotor.set(0); }*/ - - } } From 5e46a6c376235d3a6a0d91e861ca9eda9dc5f38a Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 14 Mar 2026 16:16:28 -0400 Subject: [PATCH 12/14] Deflector Changes --- src/main/java/frc/robot/Constants.java | 7 +++--- .../robot/commands/ManualHopperCommand.java | 15 ++++++++----- .../robot/commands/ManualShootCommand.java | 22 +++++++++---------- .../frc/robot/subsystems/TurretSubsystem.java | 2 ++ 4 files changed, 27 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index d4c201a..d2535bc 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -95,9 +95,10 @@ public final class Constants { public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90); public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0); - public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20); - public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40); - public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60); + public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(100); + public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(200); + public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(300); + public static final double DEFLECTOR_SERVO_RATIO = 1.0; } public static class HopperConstants { diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java index e9b4cea..ac7c03b 100644 --- a/src/main/java/frc/robot/commands/ManualHopperCommand.java +++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java @@ -23,16 +23,13 @@ public class ManualHopperCommand extends Command { // Called when the command is initially scheduled. @Override public void initialize() { - if(m_xboxController.getRightBumper()) - { - m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); - } + } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.5) + if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.2) { m_subsystem.feed(); } @@ -40,6 +37,14 @@ public class ManualHopperCommand extends Command { { m_subsystem.stop(); } + if(m_xboxController.getRightBumper()) + { + m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED); + } + if(m_xboxController.getLeftBumper()) + { + m_subsystem.spin(0); + } } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java index d88a933..1a857de 100644 --- a/src/main/java/frc/robot/commands/ManualShootCommand.java +++ b/src/main/java/frc/robot/commands/ManualShootCommand.java @@ -24,21 +24,21 @@ public class ManualShootCommand extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if(m_controller.getRightTriggerAxis()>.4) - { - m_subsystem.setLauncher(.6); - m_controller.setRumble(RumbleType.kBothRumble, .33); - } - else if(m_controller.getRightTriggerAxis()>.6) - { - m_subsystem.setLauncher(.8); - m_controller.setRumble(RumbleType.kBothRumble, .67); - } - else if(m_controller.getRightTriggerAxis()>.8) + if(m_controller.getRightTriggerAxis()>.8) { m_subsystem.setLauncher(1); m_controller.setRumble(RumbleType.kBothRumble, 1); } + else if(m_controller.getRightTriggerAxis()>.5) + { + m_subsystem.setLauncher(.7); + m_controller.setRumble(RumbleType.kBothRumble, .67); + } + else if(m_controller.getRightTriggerAxis()>.2) + { + m_subsystem.setLauncher(.5); + m_controller.setRumble(RumbleType.kBothRumble, .33); + } else { m_subsystem.setLauncher(0); diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java index 4a70432..7ee12fa 100644 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java @@ -61,6 +61,8 @@ public class TurretSubsystem extends TestableSubsystem { if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){ elev=Units.Degrees.of(300).minus(elev); } + elev=elev.div(1.5); + elev=elev.div(Constants.ShooterConstants.DEFLECTOR_SERVO_RATIO); hood.setAngle(elev.in(Units.Degrees)); } From afacbea11a4afd208d6faff84952c40ec2254017 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 21 Mar 2026 09:36:53 -0400 Subject: [PATCH 13/14] Compitition Changes --- lib/RoboLib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib/RoboLib b/lib/RoboLib index f74409b..79d2801 160000 --- a/lib/RoboLib +++ b/lib/RoboLib @@ -1 +1 @@ -Subproject commit f74409b80639448585574d77bc47f9564730cf0c +Subproject commit 79d2801dbafc56f1a6e5273411f14dec7be1879a From f0f86c8d653db0db6c792148a353b13faef2aa76 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 21 Mar 2026 10:11:02 -0400 Subject: [PATCH 14/14] spacing --- lib/RoboLib | 2 +- src/main/java/frc/robot/subsystems/DriveSubsystem.java | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/lib/RoboLib b/lib/RoboLib index 79d2801..eea7693 160000 --- a/lib/RoboLib +++ b/lib/RoboLib @@ -1 +1 @@ -Subproject commit 79d2801dbafc56f1a6e5273411f14dec7be1879a +Subproject commit eea76939a3cbb76aba47874adf15eaf49a8333de diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index 8fec12d..1ba174f 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -163,7 +163,6 @@ public class DriveSubsystem extends TestableSubsystem { } assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue(); - } }