Merge branch 'main' of https://github.com/SpiceGears/FRC-2026

Author: korneljuz

simgui-ds.json

@@ -7,26 +7,19 @@
   "keyboardJoysticks": [
     {
       "axisConfig": [
-        {
-          "decKey": 65,
-          "incKey": 68
-        },
         {
           "decKey": 87,
           "incKey": 83
         },
         {
-          "decKey": 69,
-          "decayRate": 0.0,
-          "incKey": 82,
-          "keyRate": 0.009999999776482582
+          "decKey": 68,
+          "incKey": 65
         },
         {
-          "decKey": 75,
-          "incKey": 76
+          "decayRate": 0.0
         }
       ],
-      "axisCount": 5,
+      "axisCount": 4,
       "buttonCount": 4,
       "buttonKeys": [
         90,
@@ -60,7 +53,7 @@
       "axisCount": 2,
       "buttonCount": 4,
       "buttonKeys": [
-        77,
+        -1,
         44,
         46,
         47

simgui-window.json

@@ -6,65 +6,83 @@
     "GLOBAL": {
       "font": "Proggy Dotted",
       "fps": "120",
-      "height": "720",
-      "maximized": "0",
+      "height": "1009",
+      "maximized": "1",
       "style": "0",
       "userScale": "2",
-      "width": "1280",
-      "xpos": "193",
-      "ypos": "106"
+      "width": "1920",
+      "xpos": "0",
+      "ypos": "23"
+    }
+  },
+  "Table": {
+    "0xE56EC1C2,4": {
+      "Column 0  Weight": "1.0000",
+      "Column 1  Weight": "1.0000",
+      "Column 2  Weight": "1.0000",
+      "Column 3  Weight": "1.0000"
     }
   },
   "Window": {
     "###/FMSInfo": {
       "Collapsed": "0",
-      "Pos": "60,60",
-      "Size": "181,167"
+      "Pos": "25,555",
+      "Size": "175,167"
+    },
+    "###/SmartDashboard/Auto Chooser": {
+      "Collapsed": "0",
+      "Pos": "243,569",
+      "Size": "254,54"
     },
     "###/SmartDashboard/Field": {
       "Collapsed": "0",
       "Pos": "166,24",
-      "Size": "740,373"
+      "Size": "1096,496"
     },
     "###FMS": {
       "Collapsed": "0",
-      "Pos": "4,414",
-      "Size": "169,184"
+      "Pos": "3,739",
+      "Size": "175,184"
     },
     "###Joysticks": {
       "Collapsed": "0",
-      "Pos": "250,465",
-      "Size": "796,189"
+      "Pos": "494,724",
+      "Size": "796,172"
     },
     "###Keyboard 0 Settings": {
       "Collapsed": "0",
-      "Pos": "369,59",
-      "Size": "300,560"
+      "Pos": "1313,274",
+      "Size": "300,726"
     },
     "###NetworkTables": {
       "Collapsed": "0",
-      "Pos": "399,253",
-      "Size": "750,236"
+      "Pos": "1290,21",
+      "Size": "613,175"
     },
     "###NetworkTables Info": {
-      "Collapsed": "1",
-      "Pos": "250,129",
+      "Collapsed": "0",
+      "Pos": "507,566",
       "Size": "750,145"
     },
     "###Other Devices": {
-      "Collapsed": "0",
-      "Pos": "1025,20",
+      "Collapsed": "1",
+      "Pos": "1633,914",
       "Size": "250,695"
     },
+    "###RoboRIO": {
+      "Collapsed": "0",
+      "Pos": "1650,212",
+      "Size": "119,146"
+    },
     "###System Joysticks": {
       "Collapsed": "0",
-      "Pos": "205,308",
+      "Pos": "288,723",
       "Size": "192,218"
     },
     "###Timing": {
       "Collapsed": "0",
-      "Pos": "5,150",
-      "Size": "135,219"
+      "Pos": "19,364",
+      "Size": "135,173"
     },
     "Debug##Default": {
       "Collapsed": "0",
@@ -73,8 +91,8 @@
     },
     "Robot State": {
       "Collapsed": "0",
-      "Pos": "7,20",
-      "Size": "92,116"
+      "Pos": "7,21",
+      "Size": "99,116"
     }
   }
 }

simgui.json

@@ -1,26 +1,6 @@
 {
   "HALProvider": {
     "Other Devices": {
-      "SPARK MAX [2]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [4]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [5]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [7]": {
-        "header": {
-          "open": true
-        }
-      },
       "Talon FX (v6)[2]/Rotor Sensor": {
         "header": {
           "open": true
@@ -60,11 +40,14 @@
       "/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
       "/LiveWindow/Ungrouped/Pigeon 2 [13]": "Gyro",
       "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
+      "/SmartDashboard/Alerts": "Alerts",
+      "/SmartDashboard/Auto Chooser": "String Chooser",
       "/SmartDashboard/Encoders": "Alerts",
       "/SmartDashboard/Field": "Field2d",
       "/SmartDashboard/IMU": "Alerts",
       "/SmartDashboard/JSON": "Alerts",
       "/SmartDashboard/Motors": "Alerts",
+      "/SmartDashboard/PathPlanner": "Alerts",
       "/SmartDashboard/Pigeon 2 (v6) [13]": "Gyro",
       "/SmartDashboard/Pigeon 2 [13]": "Gyro",
       "/SmartDashboard/SendableChooser[0]": "String Chooser",
@@ -79,6 +62,11 @@
           "visible": true
         }
       },
+      "/SmartDashboard/Auto Chooser": {
+        "window": {
+          "visible": true
+        }
+      },
       "/SmartDashboard/Field": {
         "OdometryPose": {
           "arrowColor": [
@@ -105,12 +93,12 @@
           "arrowWeight": 3.0,
           "style": "Hidden"
         },
-        "bottom": 1476,
-        "height": 8.210550308227539,
-        "left": 150,
-        "right": 2961,
-        "top": 79,
-        "width": 16.541748046875,
+        "bottom": 1638,
+        "height": 8.051901817321777,
+        "left": 534,
+        "right": 3466,
+        "top": 291,
+        "width": 17.54825210571289,
         "window": {
           "visible": true
         }

src/main/java/frc/robot/RobotContainer.java

@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -14,6 +15,8 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -32,6 +35,8 @@ public class RobotContainer
   private final SwerveSubsystem       drivebase  = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(),
                                                                                 "swerve"));
 
+  private final SendableChooser<Command> autoChooser;
+
   /**
    * Converts driver input into a field-relative ChassisSpeeds that is controlled by angular velocity.
    */
@@ -94,6 +99,9 @@ public RobotContainer()
     configureBindings();
     DriverStation.silenceJoystickConnectionWarning(true);
     NamedCommands.registerCommand("test", Commands.print("I EXIST"));
+
+    autoChooser = AutoBuilder.buildAutoChooser("TestAuto");
+    SmartDashboard.putData("Auto Chooser", autoChooser);
   }
 
   /**
@@ -180,7 +188,8 @@ private void configureBindings()
   public Command getAutonomousCommand()
   {
     // An example command will be run in autonomous
-    return drivebase.getAutonomousCommand("TestAuto");
+    //return drivebase.getAutonomousCommand("TestAuto");
+    return autoChooser.getSelected();
   }
 
   public void setMotorBrake(boolean brake)