Merge branch '2024-beta' into 36/create-vision-subsystem

.github/workflows/format.yml

@@ -14,12 +14,13 @@ jobs:
 
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
-       - uses: actions/setup-java@v2
-         with:
-           java-version: 17
+      - uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'oracle'
       - uses: axel-op/googlejavaformat-action@v3
         with:
           args: "--skip-sorting-imports --replace"

README.md

@@ -9,4 +9,4 @@ Thank you to the following who has contributed, supplied the tools to make this
 - [CTR Electronics](https://github.com/CrossTheRoadElec) - Provided an example and starter [repository](https://github.com/CrossTheRoadElec/Phoenix6-Examples/tree/main/java/SwerveWithPathPlanner) to build from
 - [Ian Tapply](https://github.com/IanTapply22) - Main student contributor
 - [Kaleb Dodd](https://github.com/kaleb-dodd) - Project coordinator
-- [Cole MacPhail](https://github.com/colemacphail) - Project coordinator
+- [Cole MacPhail](https://github.com/colemacphail) - Project coordinator

src/main/java/frc/robot/RobotContainer.java

@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.led.LEDSubsystem;
 
 public class RobotContainer {
   final double MaxSpeed = 6; // 6 meters per second desired top speed
@@ -20,6 +21,7 @@ public class RobotContainer {
   CommandController driver = new CommandController(0); // Driver Controller
   CommandController operator = new CommandController(1); // Operator Controller
   CommandSwerveDrivetrain drivetrain = TunerConstants.DriveTrain; // My drivetrain
+  private final LEDSubsystem ledSubsystem;
   SwerveRequest.FieldCentric drive =
       new SwerveRequest.FieldCentric()
           .withIsOpenLoop(true)
@@ -39,6 +41,8 @@ public class RobotContainer {
   Pose2d odomStart = new Pose2d(0, 0, new Rotation2d(0, 0));
 
   private void configureBindings() {
+    ledSubsystem.setDefaultCommand(new InstantCommand(() -> ledSubsystem.periodic(), ledSubsystem));
+
     drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
         drivetrain
             .applyRequest(
@@ -67,7 +71,6 @@ private void configureBindings() {
     //   drivetrain.seedFieldRelative(new Pose2d(new Translation2d(), Rotation2d.fromDegrees(90)));
     // }
     drivetrain.registerTelemetry(logger::telemeterize);
-
     driver.POVUp()
         .whileTrue(
             drivetrain.applyRequest(() -> forwardStraight.withVelocityX(0.5).withVelocityY(0)));
@@ -78,6 +81,7 @@ private void configureBindings() {
 
   public RobotContainer() {
     configureBindings();
+    ledSubsystem = new LEDSubsystem();
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -2,35 +2,33 @@
 
 public class IntakeConstants {
 
-    /** Used when scoring/outtaking */
-    public class OuttakeSpeeds {
-        public static final double LOW_CUBE = 0.3;
-        public static final double LOW_CONE = 0.6;
-        public static final double LOW_CUBE_AUTO = 0.3;
-        public static final double LOW_CONE_AUTO = 1.0;
-
-        public static final double MID_CONE = 0.1;
-        public static final double MID_CONE_TIPPED = 0.8;
-        public static final double MID_CUBE = 0.25;
-        public static final double MID_CUBE_AUTO = 0.2;
-
-        public static final double HIGH_CONE = 0.15;
-        public static final double HIGH_CONE_AUTO = 0.15;
-        public static final double HIGH_CUBE = 0.55;
-        public static final double HIGH_CUBE_AUTO = 0.6;
-    }
-
-    public static final double INTAKING_SPEED = 0.95;
-
-    public static final int INTAKE_MOTOR_CHANNEL = 6;
-    public static final double INTAKE_AMP_THRESHOLD = 16;
-
-    // 20ms per periodic cycle * number of periodic cycles / 1000 to get as milliseconds
-    public static final double INTAKE_CUBE_DELAY = (20 * 15) / 1000;
-    public static final double INTAKE_CONE_DELAY = (20 * 18) / 1000;
-
-    public static final double HOLD_CONE_SPEED = 0.18;
-    public static final double HOLD_CUBE_SPEED = 0.15;
-
-
+  /** Used when scoring/outtaking */
+  public class OuttakeSpeeds {
+    public static final double LOW_CUBE = 0.3;
+    public static final double LOW_CONE = 0.6;
+    public static final double LOW_CUBE_AUTO = 0.3;
+    public static final double LOW_CONE_AUTO = 1.0;
+
+    public static final double MID_CONE = 0.1;
+    public static final double MID_CONE_TIPPED = 0.8;
+    public static final double MID_CUBE = 0.25;
+    public static final double MID_CUBE_AUTO = 0.2;
+
+    public static final double HIGH_CONE = 0.15;
+    public static final double HIGH_CONE_AUTO = 0.15;
+    public static final double HIGH_CUBE = 0.55;
+    public static final double HIGH_CUBE_AUTO = 0.6;
+  }
+
+  public static final double INTAKING_SPEED = 0.95;
+
+  public static final int INTAKE_MOTOR_CHANNEL = 6;
+  public static final double INTAKE_AMP_THRESHOLD = 16;
+
+  // 20ms per periodic cycle * number of periodic cycles / 1000 to get as milliseconds
+  public static final double INTAKE_CUBE_DELAY = (20 * 15) / 1000;
+  public static final double INTAKE_CONE_DELAY = (20 * 18) / 1000;
+
+  public static final double HOLD_CONE_SPEED = 0.18;
+  public static final double HOLD_CUBE_SPEED = 0.15;
 }