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Iron-Panthers · Dec 6, 2024 · 0964af7 · 0964af7
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Showing 7 changed files with 56 additions and 58 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -4,13 +4,10 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.Mode;
 import frc.robot.subsystems.RGBSubsystem;
 import frc.robot.subsystems.flywheels.Flywheels;
@@ -37,7 +34,6 @@
 import frc.robot.subsystems.swerve.GyroIOPigeon2;
 import frc.robot.subsystems.swerve.ModuleIO;
 import frc.robot.subsystems.swerve.ModuleIOTalonFX;
-import java.util.function.DoubleSupplier;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -156,13 +152,6 @@ private void configureBindings() {
                         interrupted -> rollers.setTargetState(RollerState.IDLE),
                         () -> rollers.serializerDetected(),
                         rollers))
-                .andThen(
-                    new InstantCommand(
-                        () ->
-                            rgbSubsystem.showMessage(
-                                RGBSubsystem.Lights.Colors.RED,
-                                RGBSubsystem.PatternTypes.STROBE,
-                                RGBSubsystem.MessagePriority.F_NOTE_IN_ROBOT)))
                 .andThen(
                     new InstantCommand(() -> rollers.setTargetState(RollerState.AMP_EJECT), rollers)
                         .withTimeout(0.6))
@@ -186,13 +175,6 @@ private void configureBindings() {
                         interrupted -> rollers.setTargetState(RollerState.IDLE),
                         () -> rollers.serializerDetected(),
                         rollers))
-                .andThen(
-                    new InstantCommand(
-                        () ->
-                            rgbSubsystem.showMessage(
-                                RGBSubsystem.Lights.Colors.RED,
-                                RGBSubsystem.PatternTypes.STROBE,
-                                RGBSubsystem.MessagePriority.F_NOTE_IN_ROBOT)))
                 .andThen(
                     new InstantCommand(() -> rollers.setTargetState(RollerState.AMP_EJECT), rollers)
                         .withTimeout(0.6))
@@ -240,8 +222,7 @@ private void configureBindings() {
                             flywheels.setVelocityTarget(Flywheels.VelocityTarget.IDLE);
                             superstructure.setTargetState(SuperstructureState.STOW);
                           }
-                        }))
-                .andThen(new InstantCommand(() -> rgbSubsystem.expireCurrent())));
+                        })));
     driverB
         .rightBumper()
         .onTrue(
@@ -264,9 +245,7 @@ private void configureBindings() {
                             flywheels.setVelocityTarget(Flywheels.VelocityTarget.IDLE);
                             superstructure.setTargetState(SuperstructureState.STOW);
                           }
-                        }))
-                .andThen(new InstantCommand(() -> rgbSubsystem.expireCurrent())));
-
+                        })));
     // transfer note to shooter
     driverB
         .b()
@@ -390,7 +369,7 @@ private void configureBindings() {
     //               flywheels.setVelocityTarget(VelocityTarget.IDLE);
     //             },
     //             flywheels));
-    
+
     // cancel everything
     driverB
         .x()
@@ -423,7 +402,7 @@ private void configureBindings() {
         .onTrue(new InstantCommand(() -> superstructure.setTargetState(SuperstructureState.STOW)));
     driverB
         .povUp()
-        .onTrue(new InstantCommand(() -> superstructure.setTargetState(SuperstructureState.AMP)));    
+        .onTrue(new InstantCommand(() -> superstructure.setTargetState(SuperstructureState.AMP)));
   }
 
   private void configureAutos() {}

diff --git a/src/main/java/frc/robot/subsystems/RGBSubsystem.java b/src/main/java/frc/robot/subsystems/RGBSubsystem.java
@@ -19,7 +19,7 @@
 public class RGBSubsystem extends SubsystemBase {
   public static final class Lights {
     public static final int CANDLE_ID = 34;
-    public static final int NUM_LEDS = 227; // 8 in candle
+    public static final int NUM_LEDS = 226; // 8 in candle
 
     public static final class Colors {
       public static final RGBColor YELLOW = new RGBColor(255, 107, 0);
@@ -194,7 +194,7 @@ public void showMessage(RGBMessage message) {
   }
 
   private void showRainbow() {
-    candle.animate(new RainbowAnimation(0.3, 0.5, Lights.NUM_LEDS));
+    candle.animate(new RainbowAnimation(1, 0.5, Lights.NUM_LEDS));
     lastAppliedAnimation = Optional.of(CurrentAnimationTypes.RAINBOW);
     lastAppliedColor = Optional.empty();
   }

diff --git a/src/main/java/frc/robot/subsystems/flywheels/Flywheels.java b/src/main/java/frc/robot/subsystems/flywheels/Flywheels.java
@@ -9,7 +9,7 @@ public class Flywheels extends SubsystemBase {
   // RPM
   public enum VelocityTarget {
     IDLE(0, 0),
-    SHOOT(5000, 5000),
+    SHOOT(2000, 2000),
     SLOW(1200, 1200);
     private int topVelocity, bottomVelocity;
 

diff --git a/src/main/java/frc/robot/subsystems/superstructure/GenericSuperstructureIOTalonFX.java b/src/main/java/frc/robot/subsystems/superstructure/GenericSuperstructureIOTalonFX.java
@@ -11,21 +11,25 @@
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
 import com.ctre.phoenix6.signals.GravityTypeValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Voltage;
 import java.util.Optional;
 
 public class GenericSuperstructureIOTalonFX implements GenericSuperstructureIO {
   private final TalonFX talon;
 
-  private final StatusSignal<Double> positionRotations;
-  private final StatusSignal<Double> velocityRPS;
-  private final StatusSignal<Double> appliedVolts;
-  private final StatusSignal<Double> supplyCurrent;
-  private final StatusSignal<Double> temp;
+  private final StatusSignal<Angle> positionRotations;
+  private final StatusSignal<AngularVelocity> velocityRPS;
+  private final StatusSignal<Voltage> appliedVolts;
+  private final StatusSignal<Current> supplyCurrent;
+  private final StatusSignal<Temperature> temp;
 
   private final VoltageOut voltageOutput = new VoltageOut(0).withUpdateFreqHz(0);
   private final NeutralOut neutralOutput = new NeutralOut();
@@ -61,7 +65,6 @@ public GenericSuperstructureIOTalonFX(
               new CANcoderConfiguration()
                   .withMagnetSensor(
                       new MagnetSensorConfigs()
-                          .withAbsoluteSensorRange(AbsoluteSensorRangeValue.Unsigned_0To1)
                           .withSensorDirection(SensorDirectionValue.Clockwise_Positive)
                           .withMagnetOffset(0)));
 
@@ -73,7 +76,7 @@ public GenericSuperstructureIOTalonFX(
     talon.setPosition(0);
     talon.setNeutralMode(NeutralModeValue.Brake);
 
-    velocityRPS = talon.getClosedLoopError();
+    velocityRPS = talon.getVelocity();
     appliedVolts = talon.getMotorVoltage();
     supplyCurrent = talon.getSupplyCurrent();
     temp = talon.getDeviceTemp();

diff --git a/src/main/java/frc/robot/subsystems/superstructure/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/superstructure/pivot/Pivot.java
@@ -6,7 +6,7 @@ public class Pivot extends GenericSuperstructure<Pivot.PivotTarget> {
   public enum PivotTarget implements GenericSuperstructure.PositionTarget {
     STOW(0),
     ZERO(0),
-    SUBWOOF_SHOT(53),
+    SUBWOOF_SHOT(70),
     SHUTTLE(45);
     private double position;
 

diff --git a/src/main/java/frc/robot/subsystems/swerve/Drive.java b/src/main/java/frc/robot/subsystems/swerve/Drive.java
@@ -3,7 +3,6 @@
 import static frc.robot.subsystems.swerve.DriveConstants.DRIVE_CONFIG;
 import static frc.robot.subsystems.swerve.DriveConstants.KINEMATICS;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -12,8 +11,8 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Util;
 import frc.robot.Constants;
+import frc.robot.Util;
 import frc.robot.subsystems.swerve.controllers.TeleopController;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
@@ -74,9 +73,6 @@ public void periodic() {
         targetSpeeds = teleopController.update(arbitraryYaw);
       }
       case TRAJECTORY -> {}
-      case ANGLE -> {
-        targetSpeeds = teleopTargetSpeeds;
-      }
     }
 
     // run modules

diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
@@ -1,56 +1,70 @@
 {
-    "fileName": "Phoenix5.json",
+    "fileName": "Phoenix5-frc2025-beta-latest.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.33.1",
-    "frcYear": 2024,
+    "version": "5.34.0-beta-3",
+    "frcYear": "2025",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-beta-latest.json",
     "requires": [
         {
             "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
             "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-            "offlineFileName": "Phoenix6.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+            "offlineFileName": "Phoenix6-frc2025-beta-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json"
+        }
+    ],
+    "conflictsWith": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
+            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
+        },
+        {
+            "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
+            "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix5-replay-frc2025-beta-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.33.1"
+            "version": "5.34.0-beta-3"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.33.1"
+            "version": "5.34.0-beta-3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
@@ -60,89 +74,95 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "linuxathena"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
         },
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"
         },
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.1",
+            "version": "5.34.0-beta-3",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
+                "linuxarm64",
                 "osxuniversal"
             ],
             "simMode": "swsim"