Remove unnecessary files, adding mechanism classes to separate out me…

…chanism functionality

java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java

@@ -10,9 +10,6 @@
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.sim.CANcoderSimState;
-import com.ctre.phoenix6.sim.Pigeon2SimState;
-import com.ctre.phoenix6.sim.TalonFXSimState;
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
@@ -26,16 +23,10 @@
 public class Robot extends TimedRobot {
   private final String CANBUS_NAME = "Fred";
   private CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
-   private TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
+  private TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
   private Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
   private int m_printCount = 0;
 
-  //TODO finish creating simulation objects
-  private CANcoderSimState m_ccSim = m_cc.getSimState();
-  private TalonFXSimState m_fxSim = m_fx.getSimState();
-  private Pigeon2SimState m_p2Sim = m_p2.getSimState();
-
-
   private DutyCycleOut m_dutycycle = new DutyCycleOut(0);
 
   XboxController m_joystick = new XboxController(0);
@@ -60,7 +51,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
-
+    
   }
 
   @Override

java/CANcoder/simgui.json

@@ -1,13 +1,4 @@
 {
-  "HALProvider": {
-    "Other Devices": {
-      "CANCoder (Pro)[1]": {
-        "header": {
-          "open": true
-        }
-      }
-    }
-  },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",

java/CANcoder/src/main/java/frc/robot/Mechanisms.java

@@ -0,0 +1,43 @@
+package frc.robot;
+
+import com.ctre.phoenix6.StatusSignal;
+
+import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+
+/**
+ * Class to keep all the mechanism-specific objects together and out of the main example
+ */
+public class Mechanisms {
+  private final double HEIGHT = 1;
+  private final double WIDTH = 1;
+  private final double ROOT_X = WIDTH / 2;
+  private final double ROOT_Y = HEIGHT / 2;
+
+  private Mechanism2d mech = new Mechanism2d(WIDTH, HEIGHT); // Main mechanism object
+  private MechanismLigament2d wrist = mech.getRoot("base", ROOT_X, ROOT_Y)
+      .append(new MechanismLigament2d("Wrist", .25, 90, 6, new Color8Bit(Color.kAliceBlue)));
+
+  @SuppressWarnings("unused")
+  private MechanismLigament2d leftArrow = wrist.append(
+                                              new MechanismLigament2d("LeftArrow", 
+                                                                      0.1, 
+                                                                      150, 
+                                                                      6, 
+                                                                      new Color8Bit(Color.kAliceBlue)));
+  @SuppressWarnings("unused")
+  private MechanismLigament2d rightArrow = wrist.append(
+                                               new MechanismLigament2d("RightArrow", 
+                                                                       0.1, 
+                                                                       -150, 
+                                                                       6, 
+                                                                       new Color8Bit(Color.kAliceBlue)));
+
+  public void update(StatusSignal<Double> angle) {
+    SmartDashboard.putData("mech2d", mech); // Creates a mech2d window in GUI
+    wrist.setAngle(angle.getValue() * 360); // Converts 1 rotation to 360 degrees
+  }
+}

java/CANcoder/src/main/java/frc/robot/Robot.java

@@ -12,11 +12,6 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
-import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.util.Color;
-import edu.wpi.first.wpilibj.util.Color8Bit;
 import frc.robot.sim.PhysicsSim;
 
 /**
@@ -35,21 +30,8 @@ public class Robot extends TimedRobot {
   private final XboxController controller = new XboxController(0);
 
   double currentTime = Timer.getFPGATimestamp();
-
-  /* Mech2d only */
-  private final double HEIGHT = 1;
-  private final double WIDTH = 1;
-  private final double ROOT_X = WIDTH / 2;
-  private final double ROOT_Y = HEIGHT / 2;
-
-  private Mechanism2d mech = new Mechanism2d(WIDTH, HEIGHT); // Main mechanism object
-  private MechanismLigament2d wrist = mech.
-                                      getRoot("base", ROOT_X, ROOT_Y).
-                                      append(new MechanismLigament2d("Wrist", .25, 90, 6, new Color8Bit(Color.kAliceBlue)));
-
-  private MechanismLigament2d leftArrow = wrist.append(new MechanismLigament2d("LeftArrow", 0.1, 150, 6, new Color8Bit(Color.kAliceBlue)));
-  private MechanismLigament2d rightArrow = wrist.append(new MechanismLigament2d("RightArrow", 0.1, -150, 6, new Color8Bit(Color.kAliceBlue)));
-  /* End mech2d only */
+
+  private final Mechanisms mechanism = new Mechanisms();
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -107,8 +89,7 @@ public void robotPeriodic() {
        */
       System.out.println();
     }
-    SmartDashboard.putData("mech2d", mech); // Creates a mech2d window in GUI
-    wrist.setAngle(cancoder.getPosition().getValue()*360); // Converts 1 rotation to 360 degrees
+    mechanism.update(cancoder.getPosition());
   }
 
   @Override
@@ -125,18 +106,12 @@ public void teleopInit() {
     cancoder.setPosition(0.4, 0.1); // Set our position to .4 rotations and wait up to 100 ms for the setter to take affect
     cancoder.getPosition().waitForUpdate(0.1); // And wait up to 100 ms for the position to take affect
     System.out.println("Set the position to 0.4 rotations, we are currently at " + cancoder.getPosition()); // Use java's implicit toString operator
-
   }
 
   @Override
   public void teleopPeriodic() {
-    var fwd = controller.getLeftY();
-
-    //modify control requests
-    fwdOut.Output = fwd;
-
-    //send control requests
-    talonFX.setControl(fwdOut);
+    /* Send control requests to control Talon that's connected to CANcoder */
+    talonFX.setControl(fwdOut.withOutput(controller.getLeftY()));
   }
 
   @Override

java/CANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -53,7 +53,6 @@ public TalonFXSimProfile(final TalonFX falcon, final CANcoder canCoder, final do
      */
     public void run() {
         // DEVICE SPEED SIMULATION
-
         _motorSim.setInputVoltage(_falcon.getSimState().getMotorVoltage());
 
         _motorSim.update(getPeriod());

java/CurrentLimits/src/test/java/CurrentLimitTests.java

@@ -52,7 +52,7 @@ public void robotIsEnabled() {
         /* verify that the robot is enabled */
         assertTrue(DriverStation.isEnabled());
     }
-//TODO add simulation compatibility to the bolow java code
+
     @Test
     public void testStatorLimit() {
         var statorCurrent = talon.getStatorCurrent();