Fixed Dir Paths. Please check your own local repos to see if you mess…

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FRC-2024-Beta-Testing/src/main/java/frc/robot/commands/audio/playMusic.java → src/main/java/frc/robot/commands/audio/playMusic.java

@@ -1,37 +1,37 @@
-package frc.robot.commands.audio;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.audio.AudioPlayer;
-
-public class playMusic extends Command {
-    private AudioPlayer audioPlayerSubsystem;
-    private int toggle;
-    private int maxBound;
-
-    public playMusic(AudioPlayer audioplayerSubsystem) {
-        this.audioPlayerSubsystem = audioplayerSubsystem;
-        this.toggle = 0;
-        this.maxBound = 2; // exclusive, also maxBound is silent
-        addRequirements(audioplayerSubsystem);
-    }
-
-    @Override
-    public void execute() {
-        System.err.println(this.toggle);
-        if (this.toggle == this.maxBound) {
-            this.audioPlayerSubsystem.stop();
-            this.toggle = 0;
-        }
-        else {
-            this.audioPlayerSubsystem.play(this.toggle);
-            this.toggle++;
-        }
-
-        // this.audioPlayerSubsystem.play(0);
-    }
-
-    @Override
-    public boolean isFinished() {
-        return true;
-    }
-}
+package frc.robot.commands.audio;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.audio.AudioPlayer;
+
+public class playMusic extends Command {
+    private AudioPlayer audioPlayerSubsystem;
+    private int toggle;
+    private int maxBound;
+
+    public playMusic(AudioPlayer audioplayerSubsystem) {
+        this.audioPlayerSubsystem = audioplayerSubsystem;
+        this.toggle = 0;
+        this.maxBound = 2; // exclusive, also maxBound is silent
+        addRequirements(audioplayerSubsystem);
+    }
+
+    @Override
+    public void execute() {
+        System.err.println(this.toggle);
+        if (this.toggle == this.maxBound) {
+            this.audioPlayerSubsystem.stop();
+            this.toggle = 0;
+        }
+        else {
+            this.audioPlayerSubsystem.play(this.toggle);
+            this.toggle++;
+        }
+
+        // this.audioPlayerSubsystem.play(0);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return true;
+    }
+}

FRC-2024-Beta-Testing/src/main/java/frc/robot/commands/shooter/AlignWithTargetPoint.java → src/main/java/frc/robot/commands/shooter/AlignWithTargetPoint.java

@@ -1,56 +1,56 @@
-// package frc.robot.commands.shooter;
-
-// import edu.wpi.first.wpilibj2.command.Command;
-// import edu.wpi.first.math.geometry.Pose3d;
-// import edu.wpi.first.math.geometry.Pose2d;
-// import edu.wpi.first.math.geometry.Rotation3d;
-
-// import frc.robot.subsystems.shooter.Shooter;
-// import frc.robot.subsystems.swerve.SwerveSubsystem;
-// import frc.robot.subsystems.aprilTagVision.AprilTagVision;
-
-// public class AlignWithTargetPoint extends Command {
-//     private final Shooter shooterSubsystem;
-//     private final AprilTagVision visionSubsystem;
-//     private final Pose3d shooterPose;
-//     private final SwerveSubsystem swerveSubsystem;
-
-//     public AlignWithTargetPoint(Shooter shooterSubsystem, AprilTagVision visionSubsystem, SwerveSubsystem swerveSubsystem) {
-//         this.shooterSubsystem = shooterSubsystem;
-//         this.visionSubsystem = visionSubsystem;
-//         this.swerveSubsystem = swerveSubsystem;
-//         this.shooterPose = new Pose3d(0,0,0,new Rotation3d(0,0,0)); // first three zeroes are real measurments, no euler angles (rot. at tip)
-//         addRequirements(shooterSubsystem);
-//         addRequirements(visionSubsystem);
-//         addRequirements(swerveSubsystem);
-//     }
-
-//     @override
-//     public void execute() {
-//         Pose3d initialPose = new Pose3d(this.swerveSubsystem.getPose());
-//         Pose3d targetPointPose = this.visionSubsystem.getValidShotPoint().relativeTo(currPose); // getValidShotPoint() is the whole LL3 quad detection thing... WIP
-
-//         Pose2d drivebasePose = new Pose2d(initialPose.getX(),
-//                                           this.shooterPose.getX()*targetPointPose.getZ()/targetPointPose.getX()
-//                                           ) // no need for Y axis
-
-//         // 0,0,acos(dot(target,shooter)/(mag(target)*mag(shooter))) - roll,pitch,yaw
-//         // can use Rot3d and then apply as a transform to currPose and then supply transformed pose (time benefits?)
-
-//         this.swerveSubsystem.drive(drivebasePose.getTranslation(), drivebasePose.getRotation(), true, false); // 1st boolean might be wrong
-//         // the drivebase theoretically just rotated in place to to remove the z axis
-
-//         while (this.shooterPose.getX()/targetPointPose.getX() != this.shooterPose.getZ()/targetPointPose.getZ()) { // the variable to eliminate is Z, since Z is in place of Y
-//             if () {}
-//             else {}
-//             targetPointPose = this.visionSubsystem.getValidShotPoint().relativeTo(new Pose3d(this.swerveSubsystem.getPose())); // doesn't exist... yet
-//         }
-
-//     }
-
-//     @Override
-//     public boolean isFinished() {
-//         return false;
-//     }
-
+// package frc.robot.commands.shooter;
+
+// import edu.wpi.first.wpilibj2.command.Command;
+// import edu.wpi.first.math.geometry.Pose3d;
+// import edu.wpi.first.math.geometry.Pose2d;
+// import edu.wpi.first.math.geometry.Rotation3d;
+
+// import frc.robot.subsystems.shooter.Shooter;
+// import frc.robot.subsystems.swerve.SwerveSubsystem;
+// import frc.robot.subsystems.aprilTagVision.AprilTagVision;
+
+// public class AlignWithTargetPoint extends Command {
+//     private final Shooter shooterSubsystem;
+//     private final AprilTagVision visionSubsystem;
+//     private final Pose3d shooterPose;
+//     private final SwerveSubsystem swerveSubsystem;
+
+//     public AlignWithTargetPoint(Shooter shooterSubsystem, AprilTagVision visionSubsystem, SwerveSubsystem swerveSubsystem) {
+//         this.shooterSubsystem = shooterSubsystem;
+//         this.visionSubsystem = visionSubsystem;
+//         this.swerveSubsystem = swerveSubsystem;
+//         this.shooterPose = new Pose3d(0,0,0,new Rotation3d(0,0,0)); // first three zeroes are real measurments, no euler angles (rot. at tip)
+//         addRequirements(shooterSubsystem);
+//         addRequirements(visionSubsystem);
+//         addRequirements(swerveSubsystem);
+//     }
+
+//     @override
+//     public void execute() {
+//         Pose3d initialPose = new Pose3d(this.swerveSubsystem.getPose());
+//         Pose3d targetPointPose = this.visionSubsystem.getValidShotPoint().relativeTo(currPose); // getValidShotPoint() is the whole LL3 quad detection thing... WIP
+
+//         Pose2d drivebasePose = new Pose2d(initialPose.getX(),
+//                                           this.shooterPose.getX()*targetPointPose.getZ()/targetPointPose.getX()
+//                                           ) // no need for Y axis
+
+//         // 0,0,acos(dot(target,shooter)/(mag(target)*mag(shooter))) - roll,pitch,yaw
+//         // can use Rot3d and then apply as a transform to currPose and then supply transformed pose (time benefits?)
+
+//         this.swerveSubsystem.drive(drivebasePose.getTranslation(), drivebasePose.getRotation(), true, false); // 1st boolean might be wrong
+//         // the drivebase theoretically just rotated in place to to remove the z axis
+
+//         while (this.shooterPose.getX()/targetPointPose.getX() != this.shooterPose.getZ()/targetPointPose.getZ()) { // the variable to eliminate is Z, since Z is in place of Y
+//             if () {}
+//             else {}
+//             targetPointPose = this.visionSubsystem.getValidShotPoint().relativeTo(new Pose3d(this.swerveSubsystem.getPose())); // doesn't exist... yet
+//         }
+
+//     }
+
+//     @Override
+//     public boolean isFinished() {
+//         return false;
+//     }
+
 // }

FRC-2024-Beta-Testing/src/main/java/frc/robot/subsystems/audio/AudioPlayer.java → src/main/java/frc/robot/subsystems/audio/AudioPlayer.java

@@ -1,39 +1,39 @@
-package frc.robot.subsystems.audio;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import com.ctre.phoenix6.Orchestra;
-import com.ctre.phoenix6.hardware.ParentDevice;
-import com.ctre.phoenix6.hardware.TalonFX;
-
-import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class AudioPlayer extends SubsystemBase {
-
-    private Orchestra orchestra;
-    List<TalonFX> motors;
-
-    public AudioPlayer() {
-        List<ParentDevice> motors = new ArrayList<>(
-            Arrays.asList(new TalonFX(0, "rio"), new TalonFX(1, "rio"), new TalonFX(2, "rio"), new TalonFX(3, "rio"), 
-                new TalonFX(4, "rio"), new TalonFX(5, "rio"), new TalonFX(6, "rio"), new TalonFX(7, "rio")));
-
-        orchestra = new Orchestra(motors);
-
-    }
-
-    public void play(int songID) {
-        orchestra.loadMusic(Integer.toString(songID)+".chrp");
-        orchestra.play();
-        // System.out.println("here");
-    }
-
-    public void stop() {
-        orchestra.stop();
-    }
-
-}
+package frc.robot.subsystems.audio;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+import com.ctre.phoenix6.Orchestra;
+import com.ctre.phoenix6.hardware.ParentDevice;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class AudioPlayer extends SubsystemBase {
+
+    private Orchestra orchestra;
+    List<TalonFX> motors;
+
+    public AudioPlayer() {
+        List<ParentDevice> motors = new ArrayList<>(
+            Arrays.asList(new TalonFX(0, "rio"), new TalonFX(1, "rio"), new TalonFX(2, "rio"), new TalonFX(3, "rio"), 
+                new TalonFX(4, "rio"), new TalonFX(5, "rio"), new TalonFX(6, "rio"), new TalonFX(7, "rio")));
+
+        orchestra = new Orchestra(motors);
+
+    }
+
+    public void play(int songID) {
+        orchestra.loadMusic(Integer.toString(songID)+".chrp");
+        orchestra.play();
+        // System.out.println("here");
+    }
+
+    public void stop() {
+        orchestra.stop();
+    }
+
+}