From eb991f192287fcf2f4fb9d80eafaa15c05cc1436 Mon Sep 17 00:00:00 2001 From: Area5188 Date: Sat, 14 Feb 2026 14:19:01 -0500 Subject: [PATCH 1/5] alarm???????????? yes!!!!!!!!!!!!!!!!!!!!!!!!!! --- src/main/java/frc/robot/Robot.java | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d1c197b..ee8a658 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -16,6 +16,10 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement; import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement; + +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.generated.TunerConstants; @@ -35,7 +39,7 @@ public class Robot extends LoggedRobot { private Command autonomousCommand; private RobotContainer robotContainer; - + private Alert lowBatteryAlert = new Alert("The robot is low on battery!", AlertType.kWarning); public Robot() { // Record metadata // Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); @@ -114,7 +118,9 @@ public void robotPeriodic() { // This must be called from the robot's periodic block in order for anything in // the Command-based framework to work. CommandScheduler.getInstance().run(); - + if (0.0 <= RobotController.getBatteryVoltage() && RobotController.getBatteryVoltage() <= 11.01) { + lowBatteryAlert.set(true); + } // Return to non-RT thread priority (do not modify the first argument) // Threads.setCurrentThreadPriority(false, 10); } @@ -176,4 +182,4 @@ public void simulationInit() {} /** This function is called periodically whilst in simulation. */ @Override public void simulationPeriodic() {} -} +} \ No newline at end of file From 96deae9b47c30a2270bfcc28b377174b403e9f34 Mon Sep 17 00:00:00 2001 From: Area5188 Date: Sat, 14 Feb 2026 14:23:48 -0500 Subject: [PATCH 2/5] spotlessApply thingy!!!!!!!!!!!!!!!! --- src/main/java/frc/robot/Robot.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ee8a658..d9dbd13 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -16,10 +16,9 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement; import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement; - -import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.generated.TunerConstants; @@ -40,6 +39,7 @@ public class Robot extends LoggedRobot { private Command autonomousCommand; private RobotContainer robotContainer; private Alert lowBatteryAlert = new Alert("The robot is low on battery!", AlertType.kWarning); + public Robot() { // Record metadata // Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); @@ -118,7 +118,8 @@ public void robotPeriodic() { // This must be called from the robot's periodic block in order for anything in // the Command-based framework to work. CommandScheduler.getInstance().run(); - if (0.0 <= RobotController.getBatteryVoltage() && RobotController.getBatteryVoltage() <= 11.01) { + if (0.0 <= RobotController.getBatteryVoltage() + && RobotController.getBatteryVoltage() <= 11.01) { lowBatteryAlert.set(true); } // Return to non-RT thread priority (do not modify the first argument) @@ -182,4 +183,4 @@ public void simulationInit() {} /** This function is called periodically whilst in simulation. */ @Override public void simulationPeriodic() {} -} \ No newline at end of file +} From 81ed701eae0c6c997206dae231671bba6b022dca Mon Sep 17 00:00:00 2001 From: Area5188 Date: Sat, 14 Feb 2026 15:41:11 -0500 Subject: [PATCH 3/5] fixed a building issue blame brayden --- src/main/java/frc/robot/RobotContainer.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a531a13..28c14a8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -22,12 +22,15 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import frc.lib.W8.io.absoluteencoder.AbsoluteEncoderIOCANCoder; +import frc.lib.W8.io.absoluteencoder.AbsoluteEncoderIOCANCoderSim; import frc.lib.W8.io.motor.*; import frc.lib.W8.mechanisms.flywheel.*; import frc.lib.W8.mechanisms.rotary.RotaryMechanism; import frc.lib.W8.mechanisms.rotary.RotaryMechanismReal; import frc.lib.W8.mechanisms.rotary.RotaryMechanismSim; import frc.robot.Constants.HopperConstants; +import frc.robot.Constants.IntakeConstants; import frc.robot.Constants.Ports; import frc.robot.Constants.ShooterFlywheelConstants; import frc.robot.Constants.ShooterRotaryConstants; @@ -117,7 +120,7 @@ public RobotContainer() { Ports.IntakeRoller), IntakeConstants.CONSTANTS, Optional.of( - new AbsoluteEncoderIOCANCoderSim( + new AbsoluteEncoderIOCANCoder( Ports.IntakeRoller, IntakeConstants.MOTOR_NAME + " Encoder", IntakeConstants.getCANcoderConfig(false))))); From 3f3898dc8dd85ab53c538b2c3c54a3f0ebae24ac Mon Sep 17 00:00:00 2001 From: Area5188 Date: Sat, 14 Feb 2026 15:46:32 -0500 Subject: [PATCH 4/5] fixed more things --- src/main/java/frc/robot/RobotContainer.java | 9 +-------- src/main/java/frc/robot/subsystems/Climber.java | 1 - 2 files changed, 1 insertion(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 28c4bbf..10d04e5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -26,13 +26,9 @@ import frc.lib.W8.io.absoluteencoder.AbsoluteEncoderIOCANCoderSim; import frc.lib.W8.io.motor.*; import frc.lib.W8.mechanisms.flywheel.*; -import frc.lib.W8.mechanisms.linear.LinearMechanism; -import frc.lib.W8.mechanisms.linear.LinearMechanismReal; -import frc.lib.W8.mechanisms.linear.LinearMechanismSim; import frc.lib.W8.mechanisms.rotary.RotaryMechanism; import frc.lib.W8.mechanisms.rotary.RotaryMechanismReal; import frc.lib.W8.mechanisms.rotary.RotaryMechanismSim; -import frc.robot.Constants.ClimberConstants; import frc.robot.Constants.HopperConstants; import frc.robot.Constants.IntakeConstants; import frc.robot.Constants.Ports; @@ -65,6 +61,7 @@ public class RobotContainer { private final Hopper hopper; private final Shooter shooter; private final Intake intake; + private final Climber climber; // Controller private final CommandXboxController controller = new CommandXboxController(0); @@ -217,10 +214,6 @@ public RobotContainer() { new ModuleIO() {}); hopper = new Hopper(new FlywheelMechanism() {}); - climber = - new Climber( - new LinearMechanism( - ClimberConstants.MOTOR_NAME, ClimberConstants.CHARACTERISTICS) {}); shooter = new Shooter( diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java index 7641d92..c504aba 100644 --- a/src/main/java/frc/robot/subsystems/Climber.java +++ b/src/main/java/frc/robot/subsystems/Climber.java @@ -4,7 +4,6 @@ import edu.wpi.first.units.measure.Distance; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.lib.W8.io.motor.MotorIO.PIDSlot; import frc.lib.W8.mechanisms.linear.LinearMechanism; import frc.robot.Constants.ClimberConstants; From 76978fc82765a58b0d0363615fa57b10c1705adc Mon Sep 17 00:00:00 2001 From: Area5188 Date: Sat, 14 Feb 2026 15:59:03 -0500 Subject: [PATCH 5/5] more silly changes that caused errors --- src/main/java/frc/robot/Constants.java | 13 ++++++------- src/main/java/frc/robot/RobotContainer.java | 1 - 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index de3c296..cf489ed 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -40,7 +40,6 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.AngularAccelerationUnit; -import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularAcceleration; import edu.wpi.first.units.measure.AngularVelocity; @@ -307,10 +306,10 @@ public class ShooterRotaryConstants { public static final Angle TOLERANCE = Degrees.of(2.0); - public static final AngularVelocity CRUISE_VELOCITY = Units.RadiansPerSecond.of(1); - public static final AngularAcceleration ACCELERATION = - CRUISE_VELOCITY.div(0.1).per(Units.Second); - public static final Velocity JERK = ACCELERATION.per(Second); + // public static final AngularVelocity CRUISE_VELOCITY = Units.RadiansPerSecond.of(1); + // public static final AngularAcceleration ACCELERATION = + // CRUISE_VELOCITY.div(0.1).per(Units.Second); + // public static final Velocity JERK = ACCELERATION.per(Second); private static final double ROTOR_TO_SENSOR = (2.0 / 1.0); private static final double SENSOR_TO_MECHANISM = (2.0 / 1.0); @@ -372,10 +371,10 @@ public static TalonFXConfiguration getFXConfig() { config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; config.SoftwareLimitSwitch.ForwardSoftLimitEnable = false; - config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Units.Rotations); + // config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Units.Rotaitons); config.SoftwareLimitSwitch.ReverseSoftLimitEnable = false; - config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Units.Rotations); + // config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Units.Rotations); config.Feedback.RotorToSensorRatio = ROTOR_TO_SENSOR; config.Feedback.SensorToMechanismRatio = SENSOR_TO_MECHANISM; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index da9e4c2..28c14a8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -36,7 +36,6 @@ import frc.robot.Constants.ShooterRotaryConstants; import frc.robot.commands.DriveCommands; import frc.robot.generated.TunerConstants; -import frc.robot.subsystems.Climber; import frc.robot.subsystems.Hopper; import frc.robot.subsystems.Intake; import frc.robot.subsystems.Shooter;