Merge pull request #2 from StuyPulse/ian

Ready for testing

Author: IanShiii

.Glass/glass.json

@@ -1,5 +1,44 @@
 {
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "Odometry": {
+          "open": true
+        },
+        "Vision": {
+          "open": true
+        },
+        "open": true
+      },
+      "limelight": {
+        "open": true
+      }
+    },
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Alerts": "Alerts",
+      "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
+        "width": 16.541748046875,
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
   "NetworkTables Info": {
     "visible": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "694"
   }
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.diffplug.spotless" version "6.22.0"
 }
 

gradle/wrapper/gradle-wrapper.jar

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=permwrapper/dists

gradle/wrapper/gradle-wrapper.properties

@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

gradlew

@@ -8,12 +8,13 @@
     },
     "windows": {
       "/SmartDashboard/Field": {
-        "bottom": 1476,
-        "height": 8.210550308227539,
-        "left": 150,
-        "right": 2961,
-        "top": 79,
-        "width": 16.541748046875,
+        "bottom": 1638,
+        "builtin": "2025 Reefscape",
+        "height": 8.051901817321777,
+        "left": 534,
+        "right": 3466,
+        "top": 291,
+        "width": 17.54825210571289,
         "window": {
           "visible": true
         }

gradlew.bat

@@ -5,6 +5,8 @@
 
 package com.stuypulse.robot;
 
+import com.stuypulse.robot.constants.Field;
+
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;

settings.gradle

@@ -1,8 +1,9 @@
 package com.stuypulse.robot;
 
-import com.stuypulse.robot.commands.Test;
+import com.stuypulse.robot.commands.AutoPilot;
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.commands.dropper.DropperDrop;
+import com.stuypulse.robot.commands.dropper.DropperShootSequence;
 import com.stuypulse.robot.commands.dropper.DropperStop;
 import com.stuypulse.robot.commands.swerve.SwerveDriveDrive;
 import com.stuypulse.robot.commands.swerve.SwervePIDToPose;
@@ -43,7 +44,7 @@ public class RobotContainer {
     // Robot container
 
     public RobotContainer() {
-        swerve.configureAutoBuilder();
+        swerve.configureAutoBuilder();        
         configureDefaultCommands();
         configureButtonBindings();
         configureAutons();
@@ -54,7 +55,6 @@ public RobotContainer() {
     /****************/
 
     private void configureDefaultCommands() {
-        // swerve.setDefaultCommand(new Test());
         swerve.setDefaultCommand(new SwerveDriveDrive(driver));
     }
 
@@ -63,12 +63,19 @@ private void configureDefaultCommands() {
     /***************/
 
     private void configureButtonBindings() {
+
+        // manual shoot
         driver.getRightTriggerButton()
             .onTrue(new DropperDrop())
             .onFalse(new DropperStop());
 
+        // align to closest coral and then shoot automatically
         driver.getRightButton()
-            .whileTrue(new SwervePIDToPose(() -> Field.getTargetPoseForCoralBranch(Field.getClosestBranch())));
+            .whileTrue(new SwervePIDToPose(() -> Field.getTargetPoseForCoralBranch(Field.getClosestBranch()))
+                .andThen(new DropperShootSequence()));
+        
+        driver.getTopButton()
+            .whileTrue(new AutoPilot().repeatedly());
     }
 
     /**************/