format

Author: Superbro525Alt

src/main/java/org/curtinfrc/frc2026/Constants.java

@@ -13,7 +13,7 @@ public final class Constants {
   public static final int bBotIntakeMagRollerMotorID = 22;
   public static final int bBotIndexerMagRollerMotorID = 21;
 
-  public static final RobotType robotType = RobotType.SIM;
+  public static final RobotType robotType = RobotType.COMP;
   public static final double ROBOT_X = 0.85;
   public static final double ROBOT_Y = 0.85;
   public static final double FIELD_LENGTH = 16.540988;

src/main/java/org/curtinfrc/frc2026/Robot.java

@@ -386,11 +386,10 @@ public Robot() {
     RepulsorDriverStationBootstrap.useDefaultNt();
 
     drive.setDefaultCommand(
-          drive.joystickDrive(
-                    () -> -controller.getLeftY(),
-                   () -> -controller.getLeftX(),
-              () -> -controller.getRightX())
-    );
+        drive.joystickDrive(
+            () -> -controller.getLeftY(),
+            () -> -controller.getLeftX(),
+            () -> -controller.getRightX()));
     // RepulsorDriverStation dsBase = RepulsorDriverStation.getInstance();
     // if (dsBase instanceof NtRepulsorDriverStation ds) {
     //   // new Trigger(() -> ds.getConfigBool("force_controller_override"))

src/main/java/org/curtinfrc/frc2026/subsystems/hoodedshooter/HoodedShooter.java

@@ -10,8 +10,8 @@
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;

src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Helpers/FieldPlannerGoalManager.java

@@ -34,8 +34,8 @@ public final class FieldPlannerGoalManager {
   private static final double STAGED_SAME_GOAL_POS_M = 0.05;
   private static final double STAGED_SAME_GOAL_ROT_DEG = 5.0;
 
-  private static final int STAGED_ENTRY_MIN_TICKS_BEFORE_PASS = 3;   
-private static final double STAGED_ENTRY_PASS_MUST_BE_WITHIN_M = 0.85; 
+  private static final int STAGED_ENTRY_MIN_TICKS_BEFORE_PASS = 3;
+  private static final double STAGED_ENTRY_PASS_MUST_BE_WITHIN_M = 0.85;
 
   private static final double STAGED_REACH_EXIT_M = 0.55;
   private static final double STAGED_ENTRY_REACH_ENTER_M = 0.50;
@@ -235,11 +235,12 @@ public boolean updateStagedGoal(Translation2d curPos, List<? extends Obstacle> o
 
       boolean reached = stagedReachTicks >= reachTicksRequired;
 
-if (!reached && !stagedExitPhase && passedLiveTargetTowardGoal) {
-  boolean committed =
-      (d <= STAGED_ENTRY_PASS_MUST_BE_WITHIN_M) || (stagedModeTicks >= STAGED_ENTRY_MIN_TICKS_BEFORE_PASS);
-  if (committed) reached = true;
-}
+      if (!reached && !stagedExitPhase && passedLiveTargetTowardGoal) {
+        boolean committed =
+            (d <= STAGED_ENTRY_PASS_MUST_BE_WITHIN_M)
+                || (stagedModeTicks >= STAGED_ENTRY_MIN_TICKS_BEFORE_PASS);
+        if (committed) reached = true;
+      }
 
       if (stagedGate != null) {
         boolean gateOccludingNow =
@@ -302,30 +303,24 @@ public boolean updateStagedGoal(Translation2d curPos, List<? extends Obstacle> o
         }
       }
 
-
       if (reached
-    && !stagedExitPhase
-    && stagedExitPoint != null
-    && (stagedAttractor == null
-        || stagedAttractor.getDistance(stagedExitPoint) > STAGED_REACH_EXIT_M)) {
-
-  boolean canSwitchToExit = (stagedGate == null) || stagedGatePassed;
-
-  if (canSwitchToExit) {
-    stagedExitPhase = true;
-    stagedAttractor = stagedExitPoint;
-    lastStagedPoint = stagedExitPoint;
-    stagedGate = null;
-    stagedUsingBypass = false;
-    stagedGatePassed = true;
-    stagedLatchedPull = null;
-    stagedReachTicks = 0;
-    stagedModeTicks = 0;
-    stagedGateClearTicks = 0;
-    goal = new Pose2d(stagedAttractor, requestedGoal.getRotation());
-    return false;
-  }
-}
+          && !stagedExitPhase
+          && stagedExitPoint != null
+          && (stagedAttractor == null
+              || stagedAttractor.getDistance(stagedExitPoint) > STAGED_REACH_EXIT_M)) {
+        stagedExitPhase = true;
+        stagedAttractor = stagedExitPoint;
+        lastStagedPoint = stagedExitPoint;
+        stagedGate = null;
+        stagedUsingBypass = false;
+        stagedGatePassed = true;
+        stagedLatchedPull = null;
+        stagedReachTicks = 0;
+        stagedModeTicks = 0;
+        stagedGateClearTicks = 0;
+        goal = new Pose2d(stagedAttractor, requestedGoal.getRotation());
+        return false;
+      }
       if (reached && gateCleared) {
         if (stagedCenterReturn && !stagedExitPhase && stagedExitPoint != null) {
           stagedExitPhase = true;

src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fields/Rebuilt2026.java

@@ -439,8 +439,8 @@ public List<Obstacle> fieldObstacles() {
   @Override
   public List<Obstacle> walls() {
     return List.of(
-        new HorizontalObstacle(0.0, 2, true),
-        new HorizontalObstacle(Constants.FIELD_WIDTH, 2, false),
+        new HorizontalObstacle(0.0, 1, true),
+        new HorizontalObstacle(Constants.FIELD_WIDTH, 1, false),
         new VerticalObstacle(0.0, 3, true),
         new VerticalObstacle(Constants.FIELD_LENGTH, 3, false));
   }

src/main/java/org/curtinfrc/frc2026/util/Repulsor/Tuning/DriveTuningHeat.java

@@ -32,7 +32,7 @@ public class DriveTuningHeat extends DriveTuning {
   private double minStep = 0.02;
   private double nearStart = 0.40;
   private double nearEnd = 0.02;
-  private final double MAX_SPEED = 1; //5.14;
+  private final double MAX_SPEED = 5.14;
 
   private final Heatmap heatmap;
   private final Supplier<Pose2d> robotPoseSupplier;
@@ -138,7 +138,7 @@ public double baseStepMeters(double distanceMeters, boolean slowDown) {
       v *= s;
     }
 
-    double step = v * dt;
+    double step = v;
 
     if (step < minStep && d > minStep) {
       step = minStep;