Merge branch 'Improvements-Staging' into Autos

Author: Yuriana101

README.md

@@ -0,0 +1 @@
+## Someone will do this one day....

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
 }
 
 java {
@@ -102,7 +102,7 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     // Team Lib
-    implementation 'com.github.FRC-7525:pioneerslib:1.1.3'
+    implementation 'com.github.FRC-7525:pioneerslib:1.3.0'
 
     // AKIT
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)

misc/elastic/ultimate-sim-configs.json …/ControlsStuff/ultimate-sim-configs.jsonmisc/elastic/ultimate-sim-configs.json renamed to misc/ControlsStuff/ultimate-sim-configs.json misc/elastic/ultimate-sim-configs.json renamed to misc/ControlsStuff/ultimate-sim-configs.json

@@ -139,7 +139,8 @@ public void initialize() {
 
         @Override
 		public boolean isFinished() {
-			return manager.robotHasAlgae(); 
+			return false;
+            // BUG: INSANE SELL
 		}
 
     }
@@ -177,7 +178,8 @@ public void initialize() {
 
         @Override
 		public boolean isFinished() {
-			return !manager.robotHasAlgae() ; 
+			return false;
+            // BUG: AGAIN?!? 
 		}
 
     }

…sc/elastic/elastic-layout-version-1.json …riverStuff/elastic-layout-version-1.jsonmisc/elastic/elastic-layout-version-1.json renamed to misc/DriverStuff/elastic-layout-version-1.json misc/elastic/elastic-layout-version-1.json renamed to misc/DriverStuff/elastic-layout-version-1.json

@@ -1,5 +1,6 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.XboxController;
 
 public final class GlobalConstants {
@@ -12,11 +13,9 @@ public enum RobotMode {
 	}
 
 	public static final double SIMULATION_PERIOD = 0.02;
+  
+	public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.SIM : RobotMode.REAL;
 
-	// TODO: Ensure correct mode is set for the robot!!
-	public static final RobotMode ROBOT_MODE = "Crash".equals(System.getenv("CI_NAME"))
-		? RobotMode.SIM
-		: RobotMode.SIM;
 
 	public static final class Controllers {
 

src/main/java/frc/robot/AutoManager/AutoCommands.java

@@ -6,7 +6,6 @@
 
 import org.littletonrobotics.junction.Logger;
 import org.team7525.subsystem.Subsystem;
-
 import frc.robot.GlobalConstants.Controllers;
 import frc.robot.Subsystems.AlgaeCoraler.AlgaeCoraler;
 import frc.robot.Subsystems.Climber.Climber;
@@ -35,28 +34,17 @@ public Manager() {
 
 		// Scoring/intaking Coral
 		addTrigger(IDLE, CORAL_OUT, () -> robotHasCoral() && DRIVER_CONTROLLER.getYButtonPressed());
-		addTrigger(CORAL_OUT, IDLE, DRIVER_CONTROLLER::getYButtonPressed); 
-
-		// Auto stop scoring corral:
-
-		// addTrigger(CORAL_OUT, CORAL_BLOCK, DRIVER_CONTROLLER::getYButtonPressed);
-		// addTrigger(CORAL_BLOCK, IDLE, DRIVER_CONTROLLER::getYButtonPressed);
-		
-		// // Scoring/intaking Algae
-		// addTrigger(IDLE, ALGAE_IN, DRIVER_CONTROLLER::getBButtonPressed);
-		// addTrigger(ALGAE_IN, HOLDING, DRIVER_CONTROLLER::getBButtonPressed);
-		// addTrigger(HOLDING, ALGAE_OUT, DRIVER_CONTROLLER::getBButtonPressed);
-		// addTrigger(ALGAE_IN, IDLE, DRIVER_CONTROLLER::getXButtonPressed);
-		
-		//Auto hold algae
-
-
-		//Zero Motors auto and manually
-		// addRunnableTrigger(algaeCoraler::zero, () -> getState() == ManagerStates.IDLE && !algaeCoraler.motorZeroed());
-		// addRunnableTrigger(algaeCoraler::resetMotorsZeroed, DRIVER_CONTROLLER::getAButtonPressed);
-		
-		//addTrigger(ALGAE_IN, ALGAE_OUT, () -> !algaeCoraler.zeroed());
-		//addTrigger(ALGAE_OUT, IDLE, () -> !algaeCoraler.zeroed());
+		addTrigger(CORAL_OUT, CORAL_BLOCK, () -> !robotHasCoral());
+
+		// Scoring/intaking Algae
+		addTrigger(IDLE, ALGAE_IN, DRIVER_CONTROLLER::getBButtonPressed);
+		addTrigger(ALGAE_IN, HOLDING, DRIVER_CONTROLLER::getBButtonPressed);
+		addTrigger(HOLDING, ALGAE_OUT, DRIVER_CONTROLLER::getBButtonPressed);
+		addTrigger(IDLE, CLIMBING, OPERATOR_CONTROLLER::getAButton);
+		addTrigger(CLIMBING, IDLE, OPERATOR_CONTROLLER::getAButtonReleased);
+		addTrigger(IDLE, UNCLIMBING, OPERATOR_CONTROLLER::getAButton);
+		addTrigger(UNCLIMBING, IDLE, OPERATOR_CONTROLLER::getAButtonReleased);
+	
 		// Back to IDLE button is handled by if statement in run  vstate.
 
 		//Auto Stuff
@@ -71,6 +59,7 @@ public void runState() {
 
 		climber.setState(getState().getClimber());
 		algaeCoraler.setState(getState().getAlgaeCoraler());
+		drive.periodic();
 
 		climber.periodic();
 		algaeCoraler.periodic();
@@ -85,8 +74,4 @@ public void runState() {
 	public boolean robotHasCoral() {
 		return algaeCoraler.hasCoral();
 	}
-
-	public boolean robotHasAlgae() {
-		return algaeCoraler.hasAlgae(); 
-	}
 }

src/main/java/frc/robot/GlobalConstants.java

@@ -50,6 +50,11 @@ public enum ManagerStates implements SubsystemStates {
 	CLIMBING(
 		"CLIMBING",
 		AlgaeCoralerStates.IDLE,
+		ClimberStates.IN
+	),
+	UNCLIMBING(
+		"UNCLIMBING",
+		AlgaeCoralerStates.IDLE,
 		ClimberStates.OUT
 	);
 

src/main/java/frc/robot/Manager/Manager.java

@@ -11,23 +11,23 @@
 import org.team7525.misc.CommandsUtil;
 
 import com.pathplanner.lib.commands.FollowPathCommand;
+import com.pathplanner.lib.commands.PathfindingCommand;
 
 import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.net.WebServer;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.AutoManager.AutoManager;
 import frc.robot.Manager.Manager;
 import frc.robot.Subsystems.Drive.Drive;
 import frc.robot.Subsystems.Vision.Vision;
+import frc.robot.Utilitys.Utilitys;
 
 public class Robot extends LoggedRobot {
 
 	private Manager manager;
 	private AutoManager autoManager; 
 	private Drive drive; 
-	// private Vision vision; 
+	private Vision vision; 
 
 	public Robot() {}
 
@@ -47,13 +47,13 @@ public void robotInit() {
 				Logger.addDataReceiver(new NT4Publisher());
 				break;
 		}
-
-		drive = Drive.getInstance(); 
+ 
 		manager = Manager.getInstance();
 		autoManager = new AutoManager(); 
 		// vision = Vision.getInstance();  
 
 		Logger.start();
+		PathfindingCommand.warmupCommand().schedule();
 		FollowPathCommand.warmupCommand().schedule(); 
 		CommandsUtil.logCommands();
 		DriverStation.silenceJoystickConnectionWarning(true);
@@ -62,7 +62,6 @@ public void robotInit() {
 
 	@Override
 	public void robotPeriodic() {
-		drive.periodic();
 		manager.periodic();
 		// vision.periodic();
 		CommandScheduler.getInstance().run();

src/main/java/frc/robot/Manager/ManagerStates.java

@@ -27,6 +27,7 @@ public static AlgaeCoraler getInstance() {
 	public AlgaeCoraler() {
 		super(SUBSYSTEM_NAME, AlgaeCoralerStates.IDLE);
 		there = true;
+		past = AlgaeCoralerStates.IDLE;
 		//IO stuff
 		this.io = switch (ROBOT_MODE) {
 			case REAL -> new AlgaeCoralerIOReal();
@@ -40,11 +41,6 @@ public AlgaeCoraler() {
 
 	@Override
 	public void runState() {
-		if (getState() == AlgaeCoralerStates.ZEROING) {
-			io.zero();
-			return; 
-		}
-		
 		io.setPivotSetpoint(getState().getPivotSetpoint());
 		io.setWheelSpeed(getState().getWheelSpeed());
 		if (past != getState()) {
@@ -66,28 +62,11 @@ public boolean nearTarget() {
 		return io.nearTarget();
 	}
 
-	public boolean hasAlgae() {
-		return io.hasAlgae();
-	}
-
 	public boolean hasCoral() {
 		return io.hasCoral();
 	}
 
-	public void zero() {
-		io.zero();
-	}
-
-	public boolean motorZeroed() {
-		return io.motorZeroed(); 
-	}
-
-	public void resetMotorsZeroed() {
-		io.resetMotorsZeroed();
-	}
-
 	public double getStateTime() {
 		return super.getStateTime();
 	}
 
-}