Elevator merge

.OutlineViewer/outlineviewer.json

@@ -0,0 +1,68 @@
+{
+  "Clients": {
+    "open": true
+  },
+  "Connections": {
+    "open": true
+  },
+  "[email protected]:59486": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:59984": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:61719": {
+    "Publishers": {
+      "open": true
+    },
+    "open": true
+  },
+  "[email protected]:65507": {
+    "Publishers": {
+      "open": true
+    },
+    "open": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "192"
+  },
+  "Server": {
+    "open": true
+  },
+  "outlineviewer@5": {
+    "open": true
+  },
+  "retained": {
+    "elevator": {
+      "open": true
+    }
+  },
+  "shuffleboard@2": {
+    "Subscribers": {
+      "open": true
+    }
+  },
+  "transitory": {
+    "Shuffleboard": {
+      "Auton": {
+        "Field": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}

.github/workflows/build-and-test.yml

@@ -0,0 +1,23 @@
+name: Build and test robot code
+on: push
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Add repository to git safe directories
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+      - name: Compile and run tests on robot code
+        run: ./gradlew build
+      - name: Report Status
+        if: always()
+        uses: ravsamhq/notify-slack-action@master
+        with:
+          status: ${{ job.status }}
+          notify_when: 'failure'
+          token: ${{ secrets.GITHUB_TOKEN }}
+        env:
+          SLACK_WEBHOOK_URL: ${{ secrets.ACTION_MONITORING_SLACK }}

.gradle 8.30.16 PM/buildOutputCleanup/cache.properties

@@ -0,0 +1,2 @@
+#Tue Jan 16 20:29:04 PST 2024
+gradle.version=7.5.1

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 }
 
 java {

simgui.json

@@ -15,7 +15,8 @@
   },
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/Auton/Field": "Field2d"
     }
   },
   "NetworkTables": {

src/main/deploy/choreo/2MStraightLine.traj

@@ -0,0 +1,58 @@
+{
+    "samples": [
+        {
+            "x": 0,
+            "y": 0,
+            "heading": 0,
+            "angularVelocity": -7.55803462394642e-23,
+            "velocityX": 4.80718084308354,
+            "velocityY": 0,
+            "timestamp": 0
+        },
+        {
+            "x": 0.399999999995696,
+            "y": 0,
+            "heading": -7.497604164638229e-24,
+            "angularVelocity": -9.193245718395418e-23,
+            "velocityX": 4.904634275090461,
+            "velocityY": 0,
+            "timestamp": 0.08155552026115727
+        },
+        {
+            "x": 0.7999999999949925,
+            "y": 0,
+            "heading": -5.539197561099716e-24,
+            "angularVelocity": 2.4013165429964444e-23,
+            "velocityX": 4.904634275134157,
+            "velocityY": 0,
+            "timestamp": 0.16311104052231454
+        },
+        {
+            "x": 1.1999999999967819,
+            "y": 0,
+            "heading": -3.709865909310565e-24,
+            "angularVelocity": 2.2430502175244085e-23,
+            "velocityX": 4.904634275164754,
+            "velocityY": 0,
+            "timestamp": 0.24466656078347182
+        },
+        {
+            "x": 1.599999999998375,
+            "y": 0,
+            "heading": -1.853623907916435e-24,
+            "angularVelocity": 2.276046566478452e-23,
+            "velocityX": 4.9046342751623415,
+            "velocityY": 0,
+            "timestamp": 0.3262220810446291
+        },
+        {
+            "x": 2,
+            "y": 0,
+            "heading": 7.346839692639297e-40,
+            "angularVelocity": 2.2728363693887657e-23,
+            "velocityX": 4.904634275162733,
+            "velocityY": 0,
+            "timestamp": 0.40777760130578633
+        }
+    ]
+}

src/main/deploy/choreo/2X1MCurve.traj

@@ -0,0 +1,103 @@
+{
+    "samples": [
+        {
+            "x": 0,
+            "y": 0,
+            "heading": 1.050069725977771e-40,
+            "angularVelocity": 1.5398262290553578e-16,
+            "velocityX": 2.794710467944005,
+            "velocityY": 3.5303599919188637,
+            "timestamp": 0
+        },
+        {
+            "x": 0.23173749164767796,
+            "y": 0.29282094581619517,
+            "heading": 1.3440021243249235e-17,
+            "angularVelocity": 1.7652368051626978e-16,
+            "velocityX": 3.0436823126628485,
+            "velocityY": 3.8459634962062363,
+            "timestamp": 0.07613721401873688
+        },
+        {
+            "x": 0.49239298101355006,
+            "y": 0.5602252989065818,
+            "heading": -3.323421049691745e-18,
+            "angularVelocity": -2.2017409632498635e-16,
+            "velocityX": 3.423496547973215,
+            "velocityY": 3.5121373501399438,
+            "timestamp": 0.15227442803747376
+        },
+        {
+            "x": 0.7919875221555976,
+            "y": 0.7831366780255028,
+            "heading": 5.996654462713521e-18,
+            "angularVelocity": 1.224115648587833e-16,
+            "velocityX": 3.934929127683013,
+            "velocityY": 2.927758547388317,
+            "timestamp": 0.22841164205621065
+        },
+        {
+            "x": 1.1317406170413713,
+            "y": 0.9381018452824517,
+            "heading": 3.317621643457253e-17,
+            "angularVelocity": 3.5698130436912057e-16,
+            "velocityX": 4.462378867750975,
+            "velocityY": 2.0353406576828874,
+            "timestamp": 0.3045488560749475
+        },
+        {
+            "x": 1.5,
+            "y": 1,
+            "heading": -3.674138992979092e-38,
+            "angularVelocity": -4.357424534191873e-16,
+            "velocityX": 4.836785633740269,
+            "velocityY": 0.8129816084561599,
+            "timestamp": 0.3806860700936844
+        },
+        {
+            "x": 1.8687850971430546,
+            "y": 0.9472063385941725,
+            "heading": 2.0043532320076904e-17,
+            "angularVelocity": 2.6387750181910064e-16,
+            "velocityX": 4.855136739459322,
+            "velocityY": -0.6950401387793096,
+            "timestamp": 0.45664378600020644
+        },
+        {
+            "x": 2.210735226102118,
+            "y": 0.799355927973932,
+            "heading": -2.8324657515278217e-18,
+            "angularVelocity": -3.0116753508593537e-16,
+            "velocityX": 4.501848493976605,
+            "velocityY": -1.9464831038464674,
+            "timestamp": 0.5326015019067285
+        },
+        {
+            "x": 2.5122510777106877,
+            "y": 0.5805458963497601,
+            "heading": 1.603040244881554e-17,
+            "angularVelocity": 2.4833379961114195e-16,
+            "velocityX": 3.9695223587330672,
+            "velocityY": -2.8806820875516777,
+            "timestamp": 0.6085592178132506
+        },
+        {
+            "x": 2.7724292850840286,
+            "y": 0.31390580296723725,
+            "heading": 2.4391259489329175e-17,
+            "angularVelocity": 1.1007251786346634e-16,
+            "velocityX": 3.425303200180388,
+            "velocityY": -3.510375347660468,
+            "timestamp": 0.6845169337197727
+        },
+        {
+            "x": 3,
+            "y": 0.018946131691336632,
+            "heading": 0,
+            "angularVelocity": -3.2111628420777353e-16,
+            "velocityX": 2.996018405734816,
+            "velocityY": -3.8832088058149257,
+            "timestamp": 0.7604746496262949
+        }
+    ]
+}

src/main/java/frc/robot/Constants.java

@@ -16,6 +16,24 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+  public static class ElevatorConstants {
+    public static final int EXTENSION_ID = 0;
+    public static final int EXTENSION_FOLLOW_ID = 0;
+
+    public static final float EXTENSION_LIMIT_METERS = 0;
+
+    public static final int ZERO_LIMIT_ID = 0;
+
+    public static final int GROUND_POSITION = 0;
+    public static final int SPEAKER_POSITION = 0;
+    public static final int AMP_POSITION = 0;
+    public static final int CHUTE_POSITION = 0;
+    public static final int TRAP_POSITION = 0;
+    public static final int START_POSITION = 0; 
+
+    public static final double POSITIONCONVERSIONFACTOR = 0;
+    public static final double VELOCITYCONVERSIONFACTOR = 0;
+  }
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
   }
@@ -39,11 +57,50 @@ public static class SwerveConstants {
 
     public static final int BR_DRIVE = 6; 
     public static final int BR_STEER = 7; 
+    public static final double BR_OFFSET = 2.43 + Math.PI * 3.0 / 4.0;
 
     private static double MODULE_DIST = Units.inchesToMeters(27.25 / 2.0);
     public static final Translation2d FL_POS = new Translation2d(-MODULE_DIST, MODULE_DIST);
     public static final Translation2d FR_POS = new Translation2d(MODULE_DIST, MODULE_DIST);
     public static final Translation2d BL_POS = new Translation2d(-MODULE_DIST, -MODULE_DIST);
     public static final Translation2d BR_POS = new Translation2d(MODULE_DIST, -MODULE_DIST);
   }
+
+  public static class RollerandPivotConstants {
+    public static final int lastmotorID = 0;
+    public static final int topmotorID = 2;
+    public static final int bottommotorID = 3;
+    public static final int motor1ID = 1;
+
+    public static final int sensorID = 0;
+    public static final int extendedlimitswitchID = 1;
+    public static final int retractedlimitswitchID = 2;
+    //public static final int intakeencoderID = 3;
+
+    public static final double rollersclockwise = 1;
+    public static final double rollerscounterclockwise = -1; 
+    public static final double sensorreached = 1;
+    public static final double pivotclockwise = 1;
+    public static final double pivotcounterclockwise = -1;
+    public static final double pastsensortime = 0.5;
+  }
+
+
+
+
+  public static class ClimbConstants {
+    public static final int LEFT_WINCH_MOTOR_ID = 21;
+    public static final int LEFT_ZERO_LIMIT_ID = 11;
+
+    public static final int RIGHT_WINCH_MOTOR_ID = 22;
+    public static final int RIGHT_ZERO_LIMIT_ID = 12;
+
+    public static final double WINCH_REDUCTION = 9.49;
+    public static final double AXLE_PERIMETER_METERS = 6 * Units.inchesToMeters(.289) ;
+
+    public static final double EXTENSION_LIMIT_METERS = Units.inchesToMeters(39);
+    public static final double EXTENSION_TOLERANCE_METERS = 0.01;
+
+    public static final double MAX_WINCH_POWER = 0.6;
+  }
 }