Merge branch 'main' of https://github.com/Team3256/Kirby_Bot_2024

.gitattributes

@@ -0,0 +1 @@
+*.glb filter=lfs diff=lfs merge=lfs -text

.github/workflows/fix-format.yml

@@ -0,0 +1,48 @@
+# stolen from 8033
+
+name: Format
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch.
+on:
+  # push:
+  #   branches: [ main ]
+  # pull_request:
+  #   branches: [ main ]
+  workflow_dispatch:
+
+jobs:
+  # This workflow contains a single job called "build"
+  fix-format:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    permissions:
+      # Give the default GITHUB_TOKEN write permission to commit and push the
+      # added or changed files to the repository.
+      contents: write
+
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v3
+
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    # Grant execute permission for gradlew
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+
+    # Runs a single command using the runners shell
+    - name: Compile and run tests on robot code
+      run: ./gradlew spotlessApply
+
+    # Commit changes
+    - uses: stefanzweifel/git-auto-commit-action@v5
+      with:
+          commit_message: run spotless

README.md

@@ -67,9 +67,8 @@ Gradle build will automatically run checkers to make sure there are no null poin
 ## ...generate controller maps?
 
 ```shell
-./gradlew spotlessApply
-# Go to NetworkTables > NetworkTables View > Transitory Values >
-# /AdvantageKit/RealOutputs/controllerMap 
+./gradlew simulateJava
+# Running simulateJava will dump the controller map onto a file. Quit it right after the program starts
 python scripts/gen_controller_map.py
 # Now, open the index.html
 # (`open` is a macOS-only command)

advscope_assets/Robot_Kirby/config.json

@@ -0,0 +1,15 @@
+{
+	"name": "Kirby",
+	"rotations": [
+		{
+			"axis": "x",
+			"degrees": 90
+		},
+		{
+			"axis": "z",
+			"degrees": 90
+		}
+	],
+	"position": [0, 0, 0],
+	"cameras": []
+}

advscope_assets/Robot_Kirby/documented_config.json5

@@ -0,0 +1,30 @@
+{
+	"name": "Kirby",
+	// "sourceUrl": string // Link to the original file, optional
+	// Sequence of rotations along the x, y, and z axes
+	"rotations": [
+		{
+			"axis": "x",
+			"degrees": 90
+		},
+		{
+			"axis": "z",
+			"degrees": 90
+		}
+	],
+	// Position offset in meters, applied after rotation
+	"position": [0, 0, 0],
+
+	"cameras": [
+		// Fixed camera positions, can be empty
+		// {
+		//   "name": string // Camera name
+		//   "rotations": { "axis": "x" | "y" | "z", "degrees": number }[] // Sequence of rotations along the x, y, and z axes
+		//   "position": [number, number, number] // Position offset in meters relative to the robot, applied after rotation
+		//   "resolution": [number, number] // Resolution in pixels, used to set the fixed aspect ratio
+		//   "fov": number // Horizontal field of view in degrees
+		// }
+	]
+	// Not going to implement articulated components for now
+	// "components": [...] // See "Articulated Components"
+}

scripts/map.json

@@ -1 +1 @@
-{"driver":{"leftBumper":"smth","a":"smth","b":"shoot","povRight":"smth","povDownLeft":"azi","x":"pivot shooter wow","povDownRight":"azi","y":"seed relative","povDown":"azi","leftTrigger":"something","rightBumper":"smth"},"operator":{}}
+{"driver":{"b":"shoot","x":"pivot shooter no","y":"reset heading","leftTrigger":"Slow Drive"},"operator":{"rightStick":"Turret"}}

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

@@ -10,11 +10,13 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.utils.NT4PublisherNoFMS;
 import java.util.HashMap;
 import java.util.Map;
+import java.util.Optional;
 import java.util.function.BiConsumer;
 import monologue.Logged;
 import monologue.Monologue;
@@ -36,12 +38,18 @@ public class Robot extends LoggedRobot implements Logged {
 
   private RobotContainer m_robotContainer;
 
+  private double correctionAngle;
+
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   @Override
   public void robotInit() {
+
+    RobotController.setBrownoutVoltage(
+        4.75); // the "blackout" voltage is 4.5 // lowk if this bot dont work im setting this to
+    // like 0
     configureAdvantageKit();
     if (Constants.FeatureFlags.kMonologueEnabled) {
       configureMonologue();
@@ -235,6 +243,20 @@ public void testInit() {
   @Override
   public void testPeriodic() {}
 
+  @Override
+  public void driverStationConnected() {
+    boolean isRedAlliance = true;
+    Optional<DriverStation.Alliance> ally = Optional.of(DriverStation.getAlliance().get());
+    if (ally.get() == DriverStation.Alliance.Red) {
+      System.out.println("Set Azimuth Red Alliance");
+    }
+    if (ally.get() == DriverStation.Alliance.Blue) {
+      isRedAlliance = false;
+      System.out.println("Set Azimuth Blue Alliance");
+    }
+    m_robotContainer.setAllianceCol(isRedAlliance);
+  }
+
   /** This function is called once when the robot is first started up. */
   @Override
   public void simulationInit() {}