voltage stuff started

blair-robot-project · Feb 9, 2025 · 82b0d18 · 82b0d18
1 parent bb22ec1
commit 82b0d18
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Showing 8 changed files with 377 additions and 144 deletions.
diff --git a/src/main/kotlin/frc/team449/Robot.kt b/src/main/kotlin/frc/team449/Robot.kt
@@ -6,18 +6,18 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import frc.team449.subsystems.RobotConstants
 import frc.team449.subsystems.drive.swerve.SwerveDrive
 import frc.team449.subsystems.drive.swerve.SwerveOrthogonalCommand
-import frc.team449.subsystems.superstructure.elevator.Elevator
-import frc.team449.subsystems.superstructure.elevator.Elevator.Companion.createElevator
 import frc.team449.subsystems.light.Light.Companion.createLight
-import frc.team449.subsystems.superstructure.pivot.Pivot
-import frc.team449.subsystems.superstructure.pivot.Pivot.Companion.createPivot
 import frc.team449.subsystems.superstructure.SuperstructureManager
 import frc.team449.subsystems.superstructure.SuperstructureManager.Companion.createSuperstructureManager
+import frc.team449.subsystems.superstructure.elevator.Elevator
+import frc.team449.subsystems.superstructure.elevator.Elevator.Companion.createElevator
 import frc.team449.subsystems.superstructure.intake.Intake
-import frc.team449.subsystems.vision.PoseSubsystem
-import frc.team449.subsystems.vision.PoseSubsystem.Companion.createPoseSubsystem
+import frc.team449.subsystems.superstructure.pivot.Pivot
+import frc.team449.subsystems.superstructure.pivot.Pivot.Companion.createPivot
 import frc.team449.subsystems.superstructure.wrist.Wrist
 import frc.team449.subsystems.superstructure.wrist.Wrist.Companion.createWrist
+import frc.team449.subsystems.vision.PoseSubsystem
+import frc.team449.subsystems.vision.PoseSubsystem.Companion.createPoseSubsystem
 import frc.team449.system.AHRS
 import monologue.Annotations.Log
 import monologue.Logged
@@ -43,7 +43,6 @@ class Robot : RobotBase(), Logged {
 
   val autoChooser = AutoChooser()
 
-
   @Log.NT
   override val poseSubsystem: PoseSubsystem = createPoseSubsystem(ahrs, drive, field)
 
@@ -65,6 +64,4 @@ class Robot : RobotBase(), Logged {
   val superstructureManager: SuperstructureManager = createSuperstructureManager(this)
 
   val light = createLight()
-
-
 }
diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt
@@ -98,7 +98,6 @@ class RobotLoop : TimedRobot(), Logged {
 
     robot.elevator.wristLigament.angle = robot.wrist.positionSupplier.get() * (180 / PI)
 
-
     SmartDashboard.putData("Elevator + Pivot Visual", robot.elevator.mech)
 
     // Monologue Logging
Original file line number	Diff line number	Diff line change
Expand Up		@@ -98,7 +98,6 @@ class RobotLoop : TimedRobot(), Logged {

		robot.elevator.wristLigament.angle = robot.wrist.positionSupplier.get() * (180 / PI)


		SmartDashboard.putData("Elevator + Pivot Visual", robot.elevator.mech)

		// Monologue Logging
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