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garrettsummerfi3ldgarrettsummerfi3ld
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Merge pull request #19 from OakvilleDynamics/Encoders-and-other-last-minute-functions
2 parents d99fb41 + 705b184 commit 2a782cc

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+438
-153
lines changed

‎CAN ID prefrences.txt

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FRONT IS WHERE THE DOGHOUSE OPENS UP
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RIGHT IS WHERE THE ALGAE ARM IS
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-- Swerve Motors --
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- LF -
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Turning: 1
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Driving: 2
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CAN Coder: 9
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- LB -
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Turning: 3
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Driving: 4
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CAN Coder: 10
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- RF -
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Turning: 5
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Driving: 6
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CAN Coder: 11
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- RB -
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Turning: 7
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Driving: 8
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CAN Coder: 12
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-- Algae --
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Intake Left: 13
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Intake Right: 14
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Hinge: 15
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-- Fourbar --
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Bar Motor: 16
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Shooter: 17
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-- CAM --
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Left: 18
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Right: 19
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Small: 21
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-- Misc --
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PDH: 20

‎simgui-ds.json

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{
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"System Joysticks": {
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"window": {
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"enabled": false
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}
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},
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"keyboardJoysticks": [
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{
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"axisConfig": [
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"buttonCount": 0,
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"povCount": 0
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}
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],
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"robotJoysticks": [
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{
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"guid": "Keyboard0"
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}
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]
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}

‎simgui.json

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{
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"NTProvider": {
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"types": {
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"/FMSInfo": "FMSInfo"
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"/FMSInfo": "FMSInfo",
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"/SmartDashboard/Alerts": "Alerts",
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"/SmartDashboard/Encoders": "Alerts",
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"/SmartDashboard/Field": "Field2d",
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"/SmartDashboard/IMU": "Alerts",
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"/SmartDashboard/JSON": "Alerts",
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"/SmartDashboard/Motors": "Alerts",
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"/SmartDashboard/Swerve Drive": "Alerts"
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},
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"windows": {
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"/SmartDashboard/Field": {
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"bottom": 1638,
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"builtin": "2025 Reefscape",
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"height": 8.051901817321777,
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"left": 534,
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"right": 3466,
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"top": 291,
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"width": 17.54825210571289,
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"window": {
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"visible": true
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}
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}
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}
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},
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"NetworkTables": {
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"transitory": {
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"SmartDashboard": {
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"open": true
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}
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}
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},
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"NetworkTables Info": {

‎src/main/deploy/pathplanner/autos/L2 Coral.auto

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{
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"type": "path",
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"data": {
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"pathName": "Blue Straight Coral"
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"pathName": "Straight"
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}
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},
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{

‎src/main/deploy/pathplanner/paths/Blue Straight Coral.path

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This file was deleted.

‎src/main/deploy/pathplanner/paths/Straight.path

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"waypoints": [
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{
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"anchor": {
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"x": 7.55846590909091,
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"y": 6.0
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"x": 7.588380681818182,
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"y": 4.179559659088715
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},
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"prevControl": null,
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"nextControl": {
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"x": 8.558465909090906,
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"y": 6.0
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"x": 6.042784090909091,
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"y": 4.1695880681818185
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},
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"isLocked": false,
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"linkedName": null
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},
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{
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"anchor": {
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"x": 5.992926136363637,
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"y": 6.0
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"x": 6.032812500005129,
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"y": 4.179559659088715
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},
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"prevControl": {
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"x": 4.992926136363637,
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"y": 6.0
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"x": 7.5684375,
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"y": 4.149644886363635
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},
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"nextControl": null,
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"isLocked": false,
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},
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"goalEndState": {
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"velocity": 0,
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"rotation": 0.0
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"rotation": -178.66778014546446
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},
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"reversed": false,
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"folder": null,
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"idealStartingState": {
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"velocity": 0,
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"rotation": -179.43442050750002
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"rotation": 178.97696981131392
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},
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"useDefaultConstraints": true
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}

‎src/main/deploy/pathplanner/settings.json

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{
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"robotWidth": 0.9,
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"robotLength": 0.9,
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"holonomicMode": true,
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"pathFolders": [],
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"autoFolders": [],
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"defaultMaxVel": 3.0,
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"defaultMaxAccel": 3.0,
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"defaultMaxAngVel": 540.0,
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"defaultMaxAngAccel": 720.0,
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"defaultNominalVoltage": 12.0,
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"robotMass": 74.088,
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"robotMOI": 6.883,
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"robotTrackwidth": 0.546,
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"driveWheelRadius": 0.048,
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"driveGearing": 5.143,
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"maxDriveSpeed": 5.45,
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"driveMotorType": "vortex",
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"driveCurrentLimit": 60.0,
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"wheelCOF": 1.2,
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"flModuleX": 0.273,
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"flModuleY": 0.273,
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"frModuleX": 0.273,
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"frModuleY": -0.273,
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"blModuleX": -0.273,
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"blModuleY": 0.273,
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"brModuleX": -0.273,
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"brModuleY": -0.273,
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"bumperOffsetX": 0.0,
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"bumperOffsetY": 0.0,
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"robotFeatures": [
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"{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.15,\"y\":0.0},\"size\":{\"width\":0.3,\"length\":0.6},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
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]
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}

‎src/main/deploy/swerve/controllerproperties.json

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{
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"angleJoystickRadiusDeadband": 0.5,
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"angleJoystickRadiusDeadband": 0.1,
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"heading": {
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"p": 0.4,
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"i": 0,

‎src/main/deploy/swerve/modules/backleft.json

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{
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"drive": {
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"type": "sparkflex_vortex",
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"id": 7,
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"id": 4,
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"canbus": null
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},
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"angle": {
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"type": "sparkflex_vortex",
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"id": 8,
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"id": 3,
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"canbus": null
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},
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"encoder": {
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"type": "cancoder",
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"id": 12,
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"id": 10,
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"canbus": null
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},
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"inverted": {
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"drive": false,
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"angle": false
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"drive": true,
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"angle": true
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},
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"absoluteEncoderOffset": 6.504,
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"absoluteEncoderOffset": 36.914,
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"location": {
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"front": -12,
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"left": 12

‎src/main/deploy/swerve/modules/backright.json

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{
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"drive": {
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"type": "sparkflex_vortex",
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"id": 5,
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"id": 8,
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"canbus": null
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},
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"angle": {
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"type": "sparkflex_vortex",
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"id": 6,
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"id": 7,
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"canbus": null
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},
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"encoder": {
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"type": "cancoder",
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"id": 11,
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"id": 12,
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"canbus": null
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},
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"inverted": {
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"drive": false,
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"angle": false
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"drive": true,
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"angle": true
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},
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"absoluteEncoderOffset": -18.281,
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"absoluteEncoderOffset": 86.748,
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"location": {
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"front": -12,
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"left": -12

‎src/main/deploy/swerve/modules/frontleft.json

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{
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"drive": {
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"type": "sparkflex_vortex",
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"id": 4,
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"id": 2,
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"canbus": null
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},
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"angle": {
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"type": "sparkflex_vortex",
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"id": 3,
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"id": 1,
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"canbus": null
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},
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"encoder": {
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"canbus": null
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},
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"inverted": {
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"drive": false,
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"angle": false
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"drive": true,
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"angle": true
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},
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"absoluteEncoderOffset": -114.609,
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"absoluteEncoderOffset": 217.265,
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"location": {
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"front": 12,
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"left": 12

‎src/main/deploy/swerve/modules/frontright.json

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{
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"drive": {
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"type": "sparkflex_vortex",
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"id": 2,
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"id": 6,
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"canbus": null
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},
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"angle": {
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"type": "sparkflex_vortex",
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"id": 1,
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"id": 5,
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"canbus": null
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},
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"encoder": {
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"type": "cancoder",
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"id": 10,
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"id": 11,
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"canbus": null
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},
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"inverted": {
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"drive": false,
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"angle": false
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"drive": true,
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"angle": true
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},
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"absoluteEncoderOffset": -50.977,
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"absoluteEncoderOffset": 0.000,
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"location": {
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"front": 12,
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"left": -12

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