Added programming robot settings, work in progress

Iron-Panthers · Jan 6, 2025 · b90295e · b90295e
1 parent b544416
commit b90295e
Show file tree

Hide file tree

Showing 5 changed files with 87 additions and 30 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -17,11 +17,11 @@
 public final class Constants {
   public static double PERIODIC_LOOP_SEC = 0.02;
 
-  public static RobotType ROBOT_TYPE = RobotType.COMP;
+  public static RobotType ROBOT_TYPE = RobotType.PROGRAMMING;
 
   public static Mode getRobotMode() {
     return switch (ROBOT_TYPE) {
-      case COMP, DEV -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+      case COMP, DEV, PROGRAMMING -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
       case SIM -> Mode.SIM;
     };
   }
@@ -43,6 +43,7 @@ public enum Mode {
 
   public enum RobotType {
     COMP,
+    PROGRAMMING,
     DEV,
     SIM;
   }

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -52,6 +52,17 @@ public RobotContainer() {
           intake = new Intake(new IntakeIOTalonFX());
           flywheels = new Flywheels(new FlywheelsIOTalonFX());
         }
+        case PROGRAMMING -> {
+          swerve =
+              new Drive(
+                  new GyroIOPigeon2(),
+                  new ModuleIOTalonFX(DriveConstants.MODULE_CONFIGS[0]),
+                  new ModuleIOTalonFX(DriveConstants.MODULE_CONFIGS[1]),
+                  new ModuleIOTalonFX(DriveConstants.MODULE_CONFIGS[2]),
+                  new ModuleIOTalonFX(DriveConstants.MODULE_CONFIGS[3]));
+          intake = new Intake(new IntakeIOTalonFX());
+          // flywheels = new Flywheels(new FlywheelsIOTalonFX());
+        }
         case DEV -> {
           swerve =
               new Drive(

diff --git a/src/main/java/frc/robot/subsystems/flywheels/FlywheelConstants.java b/src/main/java/frc/robot/subsystems/flywheels/FlywheelConstants.java
@@ -6,13 +6,15 @@ public class FlywheelConstants {
   public static final FlywheelConfig FLYWHEEL_CONFIG =
       switch (Constants.getRobotType()) {
         case COMP -> new FlywheelConfig(15, 16, 0.75); // FIXME
+        case PROGRAMMING -> new FlywheelConfig(15, 16, 1);
         case DEV -> new FlywheelConfig(0, 0, 1);
         case SIM -> new FlywheelConfig(0, 0, 1);
       };
 
   public static final PIDGains GAINS =
       switch (Constants.getRobotType()) {
         case COMP -> new PIDGains(0, 0, 0, 0, 0.09, 0); // FIXME
+        case PROGRAMMING -> new PIDGains(0, 0, 0, 0, 0, 0);
         case DEV -> new PIDGains(0, 0, 0, 0, 0, 0);
         case SIM -> new PIDGains(0, 0, 0, 0, 0, 0);
       };

diff --git a/src/main/java/frc/robot/subsystems/swerve/DriveConstants.java b/src/main/java/frc/robot/subsystems/swerve/DriveConstants.java
@@ -11,7 +11,7 @@ public class DriveConstants {
   // measures in meters (per sec) and radians (per sec)
   public static final DrivebaseConfig DRIVE_CONFIG =
       switch (getRobotType()) {
-        case COMP, SIM -> new DrivebaseConfig(
+        case COMP, SIM, PROGRAMMING -> new DrivebaseConfig(
             Units.inchesToMeters(2),
             Units.inchesToMeters(22.5),
             Units.inchesToMeters(38.5),
@@ -51,6 +51,12 @@ public class DriveConstants {
           new ModuleConfig(11, 12, 3, new Rotation2d(1.4327), true, false),
           new ModuleConfig(9, 10, 4, new Rotation2d(-1.8208), true, true)
         };
+        case PROGRAMMING -> new ModuleConfig[] {
+          new ModuleConfig(5, 6, 1, new Rotation2d(-2.2656), false, true),
+          new ModuleConfig(7, 8, 2, new Rotation2d(-0.1794), false, true),
+          new ModuleConfig(11, 12, 3, new Rotation2d(2.9406), false, true),
+          new ModuleConfig(9, 10, 4, new Rotation2d(-0.1365), false, true)
+        };
         case DEV -> new ModuleConfig[] {
           new ModuleConfig(2, 1, 27, new Rotation2d(0), true, false),
           new ModuleConfig(13, 12, 26, new Rotation2d(0), true, true),
@@ -74,6 +80,13 @@ public class DriveConstants {
             5.357142857142857,
             21.428571428571427,
             3.125);
+        case PROGRAMMING -> new ModuleConstants(
+            new Gains(0.4, 0.6, 0, 11, 0, 0),
+            new MotionProfileGains(4, 64, 640),
+            new Gains(0.3, 0.11, 0, 1.5, 0, 0),
+            5.357142857142857,
+            21.428571428571427,
+            3.125);
         case DEV -> new ModuleConstants(
             new Gains(0, 0, 0, 11, 0, 0),
             new MotionProfileGains(0, 0, 0),

diff --git a/vendordeps/Phoenix6-frc2025-beta-latest.json → vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-frc2025-beta-latest.json → vendordeps/Phoenix6-frc2025-latest.json
@@ -1,32 +1,32 @@
 {
-    "fileName": "Phoenix6-frc2025-beta-latest.json",
+    "fileName": "Phoenix6-frc2025-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.0.0-beta-3",
+    "version": "25.1.0",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.0.0-beta-3"
+            "version": "25.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,21 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "25.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -182,7 +196,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -198,7 +212,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -214,7 +228,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -230,7 +244,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -246,7 +260,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -262,7 +276,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -278,7 +292,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -294,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -310,7 +324,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -326,7 +340,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -342,7 +356,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.0.0-beta-3",
+            "version": "25.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -354,6 +368,22 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "25.1.0",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
         }
     ]
 }