note visulizer stuff

rebels2638 · Nov 29, 2024 · f6ea018 · f6ea018
1 parent 7619fc2
commit f6ea018
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Showing 266 changed files with 4,492 additions and 4,165 deletions.
diff --git a/.DS_Store b/.DS_Store
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/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class b/bin/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class
diff --git a/...ed-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java b/...ed-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java
@@ -10,18 +10,21 @@ public class GyroIOInputsAutoLogged extends GyroIO.GyroIOInputs implements Logga
   public void toLog(LogTable table) {
     table.put("Yaw", yaw);
     table.put("IsConnected", isConnected);
+    table.put("YawRadSec", yawRadSec);
   }
 
   @Override
   public void fromLog(LogTable table) {
     yaw = table.get("Yaw", yaw);
     isConnected = table.get("IsConnected", isConnected);
+    yawRadSec = table.get("YawRadSec", yawRadSec);
   }
 
   public GyroIOInputsAutoLogged clone() {
     GyroIOInputsAutoLogged copy = new GyroIOInputsAutoLogged();
     copy.yaw = this.yaw;
     copy.isConnected = this.isConnected;
+    copy.yawRadSec = this.yawRadSec;
     return copy;
   }
 }
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$DrivetrainConstants.class b/bin/main/frc/robot/Constants$DrivetrainConstants.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$Mode.class b/bin/main/frc/robot/Constants$Mode.class
diff --git a/bin/main/frc/robot/Constants$OperatorConstants.class b/bin/main/frc/robot/Constants$OperatorConstants.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/Constants.class b/bin/main/frc/robot/Constants.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/AutoCommand$1.class b/bin/main/frc/robot/commands/AutoCommand$1.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/Autos.class b/bin/main/frc/robot/commands/Autos.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/ShootNoteTele.class b/bin/main/frc/robot/commands/compositions/ShootNoteTele.class
diff --git a/bin/main/frc/robot/commands/shooterComp/AutoCommand$1.class b/bin/main/frc/robot/commands/shooterComp/AutoCommand$1.class
diff --git a/...main/frc/robot/commands/AutoCommand.class → ...ot/commands/shooterComp/AutoCommand.class b/...main/frc/robot/commands/AutoCommand.class → ...ot/commands/shooterComp/AutoCommand.class
diff --git a/bin/main/frc/robot/commands/shooterComp/ShooterAmp.class b/bin/main/frc/robot/commands/shooterComp/ShooterAmp.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class b/bin/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class b/bin/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class b/bin/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class
diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers.class b/bin/main/frc/robot/lib/util/LimelightHelpers.class
diff --git a/bin/main/frc/robot/subsystems/Flywheel.class b/bin/main/frc/robot/subsystems/Flywheel.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class
diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class
diff --git a/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class
diff --git a/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class
diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class
diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class
diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class
diff --git a/build/classes/java/main/frc/robot/Constants$Auton.class b/build/classes/java/main/frc/robot/Constants$Auton.class
diff --git a/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class b/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants$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$IntakeConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants$Mode.class b/build/classes/java/main/frc/robot/Constants$Mode.class
diff --git a/build/classes/java/main/frc/robot/Constants$OperatorConstants.class b/build/classes/java/main/frc/robot/Constants$OperatorConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants$VisionConstants.class b/build/classes/java/main/frc/robot/Constants$VisionConstants.class
diff --git a/build/classes/java/main/frc/robot/Constants.class b/build/classes/java/main/frc/robot/Constants.class
diff --git a/build/classes/java/main/frc/robot/Robot$1.class b/build/classes/java/main/frc/robot/Robot$1.class
diff --git a/build/classes/java/main/frc/robot/Robot.class b/build/classes/java/main/frc/robot/Robot.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/AutoCommand$1.class b/build/classes/java/main/frc/robot/commands/AutoCommand$1.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/Autos.class b/build/classes/java/main/frc/robot/commands/Autos.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/climber/MoveClimberDown.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberDown.class
diff --git a/build/classes/java/main/frc/robot/commands/climber/MoveClimberRaw.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberRaw.class
diff --git a/build/classes/java/main/frc/robot/commands/climber/MoveClimberUp.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberUp.class
diff --git a/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class b/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class
diff --git a/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.class b/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.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/commands/shooterComp/AutoCommand$1.class b/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand$1.class
diff --git a/...main/frc/robot/commands/AutoCommand.class → ...ot/commands/shooterComp/AutoCommand.class b/...main/frc/robot/commands/AutoCommand.class → ...ot/commands/shooterComp/AutoCommand.class
diff --git a/build/classes/java/main/frc/robot/commands/shooterComp/ShooterWindupAuto.class b/build/classes/java/main/frc/robot/commands/shooterComp/ShooterWindupAuto.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class
diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers.class
diff --git a/build/classes/java/main/frc/robot/subsystems/Flywheel.class b/build/classes/java/main/frc/robot/subsystems/Flywheel.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/Climber.class b/build/classes/java/main/frc/robot/subsystems/climber/Climber.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO$ClimberIOInputs.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO$ClimberIOInputs.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOFalcon.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOFalcon.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.class
diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOSim.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOSim.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.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$2.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class
diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class
diff --git a/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class
diff --git a/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$1.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$1.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$2.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$2.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class
diff --git a/.../java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO$PoseLimelightIOInputs.class b/.../java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO$PoseLimelightIOInputs.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO.class
diff --git a/...lasses/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.class b/...lasses/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class
diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class
diff --git a/...annotationProcessor/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.java b/...annotationProcessor/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.java
@@ -0,0 +1,33 @@
+package frc.robot.subsystems.climber;
+
+import java.lang.Cloneable;
+import java.lang.Override;
+import org.littletonrobotics.junction.LogTable;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
+
+public class ClimberIOInputsAutoLogged extends ClimberIO.ClimberIOInputs implements LoggableInputs, Cloneable {
+  @Override
+  public void toLog(LogTable table) {
+    table.put("ClimberHeightMeters", climberHeightMeters);
+    table.put("VoltageOut", voltageOut);
+    table.put("ReachedSetpoint", reachedSetpoint);
+    table.put("GoalPositionMeters", goalPositionMeters);
+  }
+
+  @Override
+  public void fromLog(LogTable table) {
+    climberHeightMeters = table.get("ClimberHeightMeters", climberHeightMeters);
+    voltageOut = table.get("VoltageOut", voltageOut);
+    reachedSetpoint = table.get("ReachedSetpoint", reachedSetpoint);
+    goalPositionMeters = table.get("GoalPositionMeters", goalPositionMeters);
+  }
+
+  public ClimberIOInputsAutoLogged clone() {
+    ClimberIOInputsAutoLogged copy = new ClimberIOInputsAutoLogged();
+    copy.climberHeightMeters = this.climberHeightMeters;
+    copy.voltageOut = this.voltageOut;
+    copy.reachedSetpoint = this.reachedSetpoint;
+    copy.goalPositionMeters = this.goalPositionMeters;
+    return copy;
+  }
+}
diff --git a/...ionProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java b/...ionProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java
@@ -10,18 +10,21 @@ public class GyroIOInputsAutoLogged extends GyroIO.GyroIOInputs implements Logga
   public void toLog(LogTable table) {
     table.put("Yaw", yaw);
     table.put("IsConnected", isConnected);
+    table.put("YawRadSec", yawRadSec);
   }
 
   @Override
   public void fromLog(LogTable table) {
     yaw = table.get("Yaw", yaw);
     isConnected = table.get("IsConnected", isConnected);
+    yawRadSec = table.get("YawRadSec", yawRadSec);
   }
 
   public GyroIOInputsAutoLogged clone() {
     GyroIOInputsAutoLogged copy = new GyroIOInputsAutoLogged();
     copy.yaw = this.yaw;
     copy.isConnected = this.isConnected;
+    copy.yawRadSec = this.yawRadSec;
     return copy;
   }
 }
diff --git a/...ocessor/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.java b/...ocessor/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.java
@@ -0,0 +1,39 @@
+package frc.robot.subsystems.poseLimelight;
+
+import java.lang.Cloneable;
+import java.lang.Override;
+import org.littletonrobotics.junction.LogTable;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
+
+public class PoseLimelightIOInputsAutoLogged extends PoseLimelightIO.PoseLimelightIOInputs implements LoggableInputs, Cloneable {
+  @Override
+  public void toLog(LogTable table) {
+    table.put("EstimatedPose", estimatedPose);
+    table.put("TimestampSeconds", timestampSeconds);
+    table.put("HasValidTargets", hasValidTargets);
+    table.put("PrimaryTagId", primaryTagId);
+    table.put("Tx", tx);
+    table.put("Ty", ty);
+  }
+
+  @Override
+  public void fromLog(LogTable table) {
+    estimatedPose = table.get("EstimatedPose", estimatedPose);
+    timestampSeconds = table.get("TimestampSeconds", timestampSeconds);
+    hasValidTargets = table.get("HasValidTargets", hasValidTargets);
+    primaryTagId = table.get("PrimaryTagId", primaryTagId);
+    tx = table.get("Tx", tx);
+    ty = table.get("Ty", ty);
+  }
+
+  public PoseLimelightIOInputsAutoLogged clone() {
+    PoseLimelightIOInputsAutoLogged copy = new PoseLimelightIOInputsAutoLogged();
+    copy.estimatedPose = this.estimatedPose;
+    copy.timestampSeconds = this.timestampSeconds;
+    copy.hasValidTargets = this.hasValidTargets;
+    copy.primaryTagId = this.primaryTagId;
+    copy.tx = this.tx;
+    copy.ty = this.ty;
+    return copy;
+  }
+}
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/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat
diff --git a/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat
diff --git a/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat
diff --git a/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat
diff --git a/hs_err_pid23413.log b/hs_err_pid23413.log
@@ -0,0 +1,42 @@
+#
+# A fatal error has been detected by the Java Runtime Environment:
+#
+#  SIGSEGV (0xb) at pc=0x000000012b4ddb70, pid=23413, 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:60125 -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: Tue Nov 26 16:42:36 2024 EST elapsed time: 261.772333 seconds (0d 0h 4m 21s)
+
+---------------  T H R E A D  ---------------
+
+Current thread (0x000000013d008c00):  JavaThread "main" [_thread_in_native, id=259, stack(0x000000016c930000,0x000000016d12c000)]
+
+Stack: [0x000000016c930000,0x000000016d12c000],  sp=0x000000016d128890,  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]  wpi::gui::PlatformRenderFrame()+0x254
+C  [libhalsim_gui.dylib+0x94f48]  wpi::gui::Main()+0x170
+C  [libhalsim_gui.dylib+0x1d24c]  HALSIM_InitExtension::$_3::__invoke(void*)+0xc
+j  edu.wpi.first.hal.HAL.runMain()V+0
+j  edu.wpi.first.wpilibj.RobotBase.startRobot(Ljava/util/function/Supplier;)V+82
+j  frc.robot.Main.main([Ljava/lang/String;)V+5
+v  ~StubRoutines::call_stub
+V  [libjvm.dylib+0x470fb0]  JavaCalls::call_helper(JavaValue*, methodHandle const&, JavaCallArguments*, JavaThread*)+0x38c
+V  [libjvm.dylib+0x4d62bc]  jni_invoke_static(JNIEnv_*, JavaValue*, _jobject*, JNICallType, _jmethodID*, JNI_ArgumentPusher*, JavaThread*)+0x12c
+V  [libjvm.dylib+0x4d98e8]
diff --git a/logs/Log_1c3f4d566b203f37.wpilog b/logs/Log_1c3f4d566b203f37.wpilog
diff --git a/logs/Log_8cb42584101374e1.wpilog b/logs/Log_8cb42584101374e1.wpilog
diff --git a/logs/Log_ad3e6e2519f04243.wpilog b/logs/Log_ad3e6e2519f04243.wpilog
diff --git a/logs/Log_b0bb52cf7b085238.wpilog b/logs/Log_b0bb52cf7b085238.wpilog
diff --git a/logs/Log_ce45587ab116c155.wpilog b/logs/Log_ce45587ab116c155.wpilog
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "Keyboard 3 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -84,7 +89,7 @@
       "povCount": 0
     },
     {
-      "axisCount": 0,
+      "axisCount": 1,
       "buttonCount": 0,
       "povCount": 0
     }

diff --git a/simgui-window.json b/simgui-window.json
@@ -10,8 +10,8 @@
       "style": "0",
       "userScale": "2",
       "width": "1280",
-      "xpos": "110",
-      "ypos": "685"
+      "xpos": "103",
+      "ypos": "393"
     }
   },
   "Window": {
@@ -25,6 +25,11 @@
       "Pos": "250,465",
       "Size": "796,73"
     },
+    "###Keyboard 3 Settings": {
+      "Collapsed": "0",
+      "Pos": "940,50",
+      "Size": "300,560"
+    },
     "###NetworkTables": {
       "Collapsed": "0",
       "Pos": "418,169",

diff --git a/src/main/deploy/pathplanner/autos/1PAmp.auto b/src/main/deploy/pathplanner/autos/1PAmp.auto
@@ -1,43 +1,37 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.7050561319382253,
-      "y": 6.72
-    },
-    "rotation": -120.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "ShooterWindUp"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.7
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "ShootNoteAuto"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShooterWindUp"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.7
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootNoteAuto"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/1PMid.auto b/src/main/deploy/pathplanner/autos/1PMid.auto
@@ -1,37 +1,31 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 1.37,
-      "y": 5.52
-    },
-    "rotation": 180.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "ShooterWindUp"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.3
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "ShootNoteAuto"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ShooterWindUp"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.3
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootNoteAuto"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
 }