intermeidate broken stuff

rebels2638 · Aug 1, 2024 · 6fa0909 · 6fa0909
1 parent ee4cd9d
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diff --git a/.gradle/8.5/checksums/checksums.lock b/.gradle/8.5/checksums/checksums.lock
diff --git a/.gradle/8.5/executionHistory/executionHistory.bin b/.gradle/8.5/executionHistory/executionHistory.bin
diff --git a/.gradle/8.5/executionHistory/executionHistory.lock b/.gradle/8.5/executionHistory/executionHistory.lock
diff --git a/.gradle/8.5/fileHashes/fileHashes.bin b/.gradle/8.5/fileHashes/fileHashes.bin
diff --git a/.gradle/8.5/fileHashes/fileHashes.lock b/.gradle/8.5/fileHashes/fileHashes.lock
diff --git a/.gradle/8.5/fileHashes/resourceHashesCache.bin b/.gradle/8.5/fileHashes/resourceHashesCache.bin
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
diff --git a/bin/main/frc/robot/Constants$Auton.class b/bin/main/frc/robot/Constants$Auton.class
diff --git a/bin/main/frc/robot/Constants$FieldConstants.class b/bin/main/frc/robot/Constants$FieldConstants.class
diff --git a/bin/main/frc/robot/Constants$IntakeConstants.class b/bin/main/frc/robot/Constants$IntakeConstants.class
diff --git a/bin/main/frc/robot/Constants$VisionConstants.class b/bin/main/frc/robot/Constants$VisionConstants.class
diff --git a/bin/main/frc/robot/RobotContainer$1.class b/bin/main/frc/robot/RobotContainer$1.class
diff --git a/bin/main/frc/robot/RobotContainer$2.class b/bin/main/frc/robot/RobotContainer$2.class
diff --git a/bin/main/frc/robot/RobotContainer$3.class b/bin/main/frc/robot/RobotContainer$3.class
diff --git a/bin/main/frc/robot/RobotContainer$4.class b/bin/main/frc/robot/RobotContainer$4.class
diff --git a/bin/main/frc/robot/RobotContainer.class b/bin/main/frc/robot/RobotContainer.class
diff --git a/bin/main/frc/robot/commands/AutoRunner.class b/bin/main/frc/robot/commands/AutoRunner.class
diff --git a/bin/main/frc/robot/commands/autoAligment/DriveToPose.class b/bin/main/frc/robot/commands/autoAligment/DriveToPose.class
diff --git a/bin/main/frc/robot/commands/compositions/Far1Present.class b/bin/main/frc/robot/commands/compositions/Far1Present.class
diff --git a/bin/main/frc/robot/commands/compositions/NotePresent.class b/bin/main/frc/robot/commands/compositions/NotePresent.class
diff --git a/bin/main/frc/robot/commands/drivetrain/DriveToNote.class b/bin/main/frc/robot/commands/drivetrain/DriveToNote.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOTalon.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOTalon.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class b/bin/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class
diff --git a/build/classes/java/main/frc/robot/Constants$Auton.class b/build/classes/java/main/frc/robot/Constants$Auton.class
diff --git a/build/classes/java/main/frc/robot/Constants$FieldConstants.class b/build/classes/java/main/frc/robot/Constants$FieldConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants$IntakeConstants.class b/build/classes/java/main/frc/robot/Constants$IntakeConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants$VisionConstants.class b/build/classes/java/main/frc/robot/Constants$VisionConstants.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer$1.class b/build/classes/java/main/frc/robot/RobotContainer$1.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer$2.class b/build/classes/java/main/frc/robot/RobotContainer$2.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer$3.class b/build/classes/java/main/frc/robot/RobotContainer$3.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer$4.class b/build/classes/java/main/frc/robot/RobotContainer$4.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer$5.class b/build/classes/java/main/frc/robot/RobotContainer$5.class
diff --git a/build/classes/java/main/frc/robot/RobotContainer.class b/build/classes/java/main/frc/robot/RobotContainer.class
diff --git a/build/classes/java/main/frc/robot/commands/AutoRunner.class b/build/classes/java/main/frc/robot/commands/AutoRunner.class
diff --git a/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class b/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class
diff --git a/build/classes/java/main/frc/robot/commands/compositions/NotePresent.class b/build/classes/java/main/frc/robot/commands/compositions/NotePresent.class
diff --git a/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class b/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOTalon.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOTalon.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector$1.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector$1.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class
diff --git a/build/libs/2024-Crescendo-Offseason.jar b/build/libs/2024-Crescendo-Offseason.jar
diff --git a/build/tmp/compileJava/previous-compilation-data.bin b/build/tmp/compileJava/previous-compilation-data.bin
diff --git a/hs_err_pid20713.log b/hs_err_pid20713.log
@@ -0,0 +1,33 @@
+#
+# A fatal error has been detected by the Java Runtime Environment:
+#
+#  SIGSEGV (0xb) at pc=0x0000000135f95b70, pid=20713, tid=259
+#
+# JRE version: OpenJDK Runtime Environment Temurin-17.0.8.1+1 (17.0.8.1+1) (build 17.0.8.1+1)
+# Java VM: OpenJDK 64-Bit Server VM Temurin-17.0.8.1+1 (17.0.8.1+1, mixed mode, tiered, compressed oops, compressed class ptrs, g1 gc, bsd-aarch64)
+# Problematic frame:
+# C  [libhalsim_gui.dylib+0x1db70]  std::__1::__function::__func<halsimgui::NetworkTablesSimGui::Initialize()::$_0, std::__1::allocator<halsimgui::NetworkTablesSimGui::Initialize()::$_0>, void ()>::operator()()+0x8
+#
+# No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
+#
+# If you would like to submit a bug report, please visit:
+#   https://github.com/adoptium/adoptium-support/issues
+# The crash happened outside the Java Virtual Machine in native code.
+# See problematic frame for where to report the bug.
+#
+
+---------------  S U M M A R Y ------------
+
+Command Line: -agentlib:jdwp=transport=dt_socket,server=n,suspend=y,address=localhost:58787 -Djava.library.path=/Users/edan/FRC Repos/2024-Crescendo-Offseason/build/jni/release -XX:+ShowCodeDetailsInExceptionMessages frc.robot.Main
+
+Host: "Mac14,2" arm64, 8 cores, 8G, Darwin 23.2.0, macOS 14.2.1 (23C71)
+Time: Wed Jul 31 20:20:52 2024 EDT elapsed time: 79.307742 seconds (0d 0h 1m 19s)
+
+---------------  T H R E A D  ---------------
+
+Current thread (0x000000013780c200):  JavaThread "main" [_thread_in_native, id=259, stack(0x000000016d1f4000,0x000000016d9f0000)]
+
+Stack: [0x000000016d1f4000,0x000000016d9f0000],  sp=0x000000016d9ec890,  free space=8162k
+Native frames: (J=compiled Java code, j=interpreted, Vv=VM code, C=native code)
+C  [libhalsim_gui.dylib+0x1db70]  std::__1::__function::__func<halsimgui::NetworkTablesSimGui::Initialize()::$_0, std::__1::allocator<halsimgui::NetworkTablesSimGui::Initialize()::$_0>, void ()>::operator()()+0x8
+C  [libhalsim_gui.dylib+0xa5edc]
diff --git a/simgui-window.json b/simgui-window.json
@@ -10,15 +10,15 @@
       "style": "0",
       "userScale": "2",
       "width": "1280",
-      "xpos": "180",
-      "ypos": "352"
+      "xpos": "110",
+      "ypos": "685"
     }
   },
   "Window": {
     "###FMS": {
       "Collapsed": "0",
-      "Pos": "6,426",
-      "Size": "283,140"
+      "Pos": "12,431",
+      "Size": "175,184"
     },
     "###Joysticks": {
       "Collapsed": "0",

diff --git a/src/main/deploy/pathplanner/autos/3PSourceS4.auto b/src/main/deploy/pathplanner/autos/3PSourceS4.auto
@@ -40,13 +40,13 @@
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "SourceToFar4"
+                        "pathName": "ToSourceNoteFromSource"
                       }
                     },
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "Far4ToSource"
+                        "pathName": "FromSourceNoteToSource"
                       }
                     }
                   ]
@@ -78,17 +78,23 @@
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "ToSourceNoteFromSource"
+                        "pathName": "SourceToFar4"
                       }
                     },
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "FromSourceNoteToSource"
+                        "pathName": "Far4ToSource"
                       }
                     }
                   ]
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeNote"
+                }
               }
             ]
           }
@@ -98,6 +104,12 @@
           "data": {
             "name": "ShootNoteAuto"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShooterStop"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto b/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto
@@ -20,7 +20,7 @@
         {
           "type": "wait",
           "data": {
-            "waitTime": 0.7
+            "waitTime": 0.9
           }
         },
         {
@@ -61,6 +61,12 @@
             ]
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.35
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/Test.auto → ...ploy/pathplanner/autos/AdaptableTest.auto b/src/main/deploy/pathplanner/autos/Test.auto → ...ploy/pathplanner/autos/AdaptableTest.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.71,
-      "y": 6.72
+      "x": 0.7,
+      "y": 6.7
     },
-    "rotation": -121.60888824962078
+    "rotation": -120.0
   },
   "command": {
     "type": "sequential",
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "ToFar1FromAMP"
+            "pathName": "ToAmpNoteFromAmpShort"
           }
         },
         {
@@ -24,7 +24,7 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "notePresentFar1"
+                  "name": "AmpNotePresent"
                 }
               },
               {
@@ -43,7 +43,7 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "inIntake"
+                  "name": "AmpNoteNotPresent"
                 }
               },
               {
@@ -53,13 +53,13 @@
                     {
                       "type": "named",
                       "data": {
-                        "name": null
+                        "name": "CancelIntakeNote"
                       }
                     },
                     {
                       "type": "named",
                       "data": {
-                        "name": null
+                        "name": "DriveToMidNoteFromAmp"
                       }
                     }
                   ]
@@ -69,9 +69,29 @@
           }
         },
         {
-          "type": "path",
+          "type": "deadline",
           "data": {
-            "pathName": "ToAMPFromFar1"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "MidNotePresent"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "IntakeNote"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
diff --git a/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path b/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path
@@ -54,18 +54,18 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 2.0,
-    "maxAngularVelocity": 720.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 12.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,
     "rotation": -120.0,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Far2",
   "previewStartingState": {
     "rotation": 180.0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path b/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path
@@ -32,18 +32,18 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 2.0,
-    "maxAngularVelocity": 720.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 12.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,
     "rotation": 180.0,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "MidNote",
   "previewStartingState": {
     "rotation": 180.0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Far4ToFar3.path b/src/main/deploy/pathplanner/paths/Far4ToFar3.path
@@ -50,18 +50,18 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 2.0,
-    "maxAngularVelocity": 720.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 12.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,
     "rotation": -90.0,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Far4",
   "previewStartingState": {
     "rotation": 135.0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Far4ToSource.path b/src/main/deploy/pathplanner/paths/Far4ToSource.path
@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.85,
-        "y": 2.4
+        "x": 8.05,
+        "y": 2.41243232843099
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.8005314472167417,
-        "y": 0.6117504542701404
+        "x": 4.000531447216742,
+        "y": 0.6241827827011304
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "far4"
     },
     {
       "anchor": {
@@ -50,8 +50,8 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 8.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 180.0
   },