Update README's

	modified:   README.md
	modified:   src/main/java/frc/robot/README
	modified:   src/main/java/frc/robot/Robot.java

README.md

@@ -6,6 +6,14 @@
 # Az-RBSI
 Arizona's Reference Build and Software Implementation for FRC Robots (read: "A-Z-ribsy")
 
+## Notes
+
+Will need to update the drive subsystem once AdvantageKit's 2025-beta is
+publicly available, as it nicely wraps CTRE's swerve library in the usual
+AK formalism (with all the logging!).
+
+https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/docs/example-projects/talonfx-swerve-template.md
+
 
 ## Purpose
 

src/main/java/frc/robot/README

@@ -23,7 +23,7 @@ Main.java
     file.
 
 Robot.java
-    This file is called by Main.java and directs the operation of the robot
+    This file is called by ``Main.java`` and directs the operation of the robot
     according to the currently commanded mode (disabled, autonomous, teleop,
     test, and simulation).  Care must be taken when modifying this module to
     ensure proper operation of the robot.  One section that would be useful to
@@ -32,21 +32,33 @@ Robot.java
 
 RobotContainer.java
     A file for holding robot subsystems and commands.  This file is called
-    from Robot.java and is where all subsystems and commands should be gathered
-    and organized including button bindings for operator controls, CANbus and
-    DIO port enumeration for robot devices, and camera pose information (with
-    respect to robot center).
+    from ``Robot.java`` and is where all subsystems and commands should be
+    gathered and organized including button bindings for operator controls,
+    CANbus and DIO port enumeration for robot devices, and camera pose
+    information (with respect to robot center).
 
 
 --------------------
 Subdirectories:
 
 commands/
     Commands build in separate modules (rather than in subsystem definitions or
-    inline commands in RobotContainer.java) live in this directory.
+    inline commands in ``RobotContainer.java``) live in this directory.
     Organization of files and subdirectories herein is left to the discrection
     of teams.
 
+generated/
+    This directory holds the ``TunerConstants.java`` file produced by Phoenix
+    Tuner X's swerve generator  (you must generate this file for your specific
+    drivetrain -- the one included in the Az-RBSI is an example only).  It must
+    be modified as described in the AdvantageKit documentation (removal of
+    final function and final import; modification of ``kSteerInertia`` and
+    ``kDriveInertia`` constants to be ``0.004`` and ``0.025``, respectively;
+    optional "Pro" feature, set ``kSteerClosedLoopOutput`` and/or
+    ``kDriveClosedLoopOutput`` to  ``ClosedLoopOutputType.TorqueCurrentFOC``;
+    characterize the drive and turn feedforward gains [``kS``,``kV``,``kA``]
+    using the auto routines included in the Az-RBSI).
+
 subsystems/
     The hardware definition of subsystems is done in this directory.
     Organization of files and subdirectories herein is left to the discrection
@@ -56,8 +68,13 @@ util/
     Various utility functions used by the Az-RBSI are included in this
     directory.  Most teams will not need to modify these routines, but
     additional utilities deemed necessary by individual teams may be placed
-    here for organizational purposes.
+    here for organizational purposes.  The EXCEPTIONS are
+    ``PowerMonitoring.java`` and ``OverrideSwitches.java``, which may be
+    modified to meet the specific designs of teams.  ``PowerMonitoring.java``
+    can be modified to add additional mechanisms to the power monitor logging,
+    and ``OverrideSwitches.java`` can be modified to match any manual override
+    switches on an operator console as described in that module.
 
 
 --------------------
-Last Modified: 10 Oct 2024, TPEB
+Last Modified: 06 Nov 2024, TPEB

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

@@ -19,7 +19,6 @@
 import frc.robot.Constants.PowerConstants;
 import frc.robot.RobotContainer.Ports;
 import frc.robot.util.VirtualSubsystem;
-import java.util.List;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.LoggedRobot;
@@ -39,7 +38,6 @@ public class Robot extends LoggedRobot {
   private Command m_autonomousCommand;
   private RobotContainer m_robotContainer;
   private Timer m_disabledTimer;
-  private List<VirtualSubsystem> virtualSubsystems;
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -136,10 +134,10 @@ public void disabledInit() {
   @Override
   public void disabledPeriodic() {
     // After WHEEL_LOCK_TIME has elapsed, release the drive brakes
-    // if (m_disabledTimer.hasElapsed(Constants.DrivebaseConstants.kWheelLockTime)) {
-    // m_robotContainer.setMotorBrake(false);
-    //   m_disabledTimer.stop();
-    // }
+    if (m_disabledTimer.hasElapsed(Constants.DrivebaseConstants.kWheelLockTime)) {
+      m_robotContainer.setMotorBrake(false);
+      m_disabledTimer.stop();
+    }
   }
 
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */