Rewrite

.Glass/glass.json

@@ -0,0 +1,35 @@
+{
+  "NetworkTables": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/PathPlanner": "Alerts",
+      "/SmartDashboard/Visualizers/Robot": "Mechanism2d"
+    },
+    "windows": {
+      "/SmartDashboard/Autonomous": {
+        "window": {
+          "visible": true
+        }
+      },
+      "/SmartDashboard/Field": {
+        "bottom": 1638,
+        "height": 8.051901817321777,
+        "left": 534,
+        "right": 3466,
+        "top": 291,
+        "width": 17.54825210571289,
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)"
+  }
+}

.gitignore

@@ -164,3 +164,6 @@ bin/
 # Logs
 *.wpilog
 *.log
+
+# SYSID 2022 CONFIG
+config.json

DashboardSettings.ini

@@ -0,0 +1,2 @@
+[Robot_Networking]
+Robot IP = "0.0.0.0"

README.md

@@ -2,16 +2,16 @@
 
 StuyPulse's code for the Everybot designed by 118.
 
-## Our Changes from the 118 Everybot
+## Our Changes from the original 118 Everybot
 - Replaced Drivetrain and Pivot motors with NEOs for encoders
-- Add LEDs
-- Add LimeLight 2 for better Odometry
+- Add LimeLight 2 for better odometry
+- Added a throughbore encoder for more accurate pivot state readings
 
 ## Mechanisms
-- ALGAE from Ground  and Golf-Tee to PROCESSOR
+- ALGAE from Ground and Golf-Tee to PROCESSOR
 - CORAL from Coral Station to L1
 - Deep Climb
-- Limelight 2 for vision and alignment
+- Limelight 2 for vision and alignment to the nearest reef
 
 ## Specifications
 [Here](https://robonauts-everybot.github.io/Everybot-Docs/manual/the-everybot/) is the official documentation of the 2025 Everybot. 

simgui-ds.json

@@ -93,5 +93,6 @@
       "buttonCount": 0,
       "povCount": 0
     }
-  ]
+  ],
+  "zeroDisconnectedJoysticks": false
 }

simgui.json

@@ -1,67 +1,53 @@
 {
   "HALProvider": {
-    "Addressable LEDs": {
+    "Timing": {
       "window": {
-        "visible": true
-      }
-    },
-    "Other Devices": {
-      "SPARK MAX [1]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [2]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [2] RELATIVE ENCODER": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [3]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [4]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [5]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [6]": {
-        "header": {
-          "open": true
-        }
-      },
-      "SPARK MAX [7]": {
-        "header": {
-          "open": true
-        }
+        "visible": false
       }
     }
   },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
-      "/SmartDashboard/Autonomous": "String Chooser"
+      "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/Command Scheduler": "Scheduler",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/PathPlanner": "Alerts",
+      "/SmartDashboard/Visualizers/Robot": "Mechanism2d"
     },
     "windows": {
       "/SmartDashboard/Autonomous": {
         "window": {
           "visible": true
         }
+      },
+      "/SmartDashboard/Command Scheduler": {
+        "window": {
+          "visible": true
+        }
+      },
+      "/SmartDashboard/Field": {
+        "bottom": 1638,
+        "height": 8.051901817321777,
+        "left": 534,
+        "right": 3466,
+        "top": 291,
+        "width": 17.54825210571289,
+        "window": {
+          "visible": true
+        }
+      },
+      "/SmartDashboard/Visualizers/Robot": {
+        "window": {
+          "visible": true
+        }
       }
     }
   },
   "NetworkTables": {
+    "Persistent Values": {
+      "open": false
+    },
     "retained": {
       "SmartDashboard": {
         "Autonomous": {
@@ -78,7 +64,7 @@
         "Climb": {
           "open": true
         },
-        "LEDs": {
+        "Drivetrain": {
           "open": true
         },
         "Pivot": {
@@ -87,10 +73,8 @@
               "open": true
             },
             "open": true
-          },
-          "open": true
-        },
-        "open": true
+          }
+        }
       }
     }
   },
@@ -100,6 +84,9 @@
     },
     "visible": true
   },
+  "NetworkTables View": {
+    "visible": false
+  },
   "Plot": {
     "Plot <0>": {
       "plots": [
@@ -110,7 +97,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 0
+          "height": 127
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Pc + AlgaePickup.auto

@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Processor to Reef"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "PivotCoralScore"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ProcessorScoreBack"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Processor Coral Back to HP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Processor HP Far Back"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Processor HP Far Back Score"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "PivotCoralScore"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Processor HP Far Back Back"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Processor Far Back Back to Algae Wait"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "PivotLollipopAlgaeIntake"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Processor-Start",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Center 1Pc.auto

@@ -0,0 +1,44 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center To Reef"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "PivotCoralScore"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": "Center-Start",
+  "choreoAuto": false
+}