Merge branch 'develop' into Oscar-Coral-Scorer

Coconuts2486-FRC · Feb 8, 2025 · 2bee560 · 2bee560
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diff --git a/README.md b/README.md
@@ -1,60 +1,28 @@
-[![CI](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml/badge.svg)](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml)
+[![CI](https://github.com/Coconuts2486-FRC/FRC-2025/actions/workflows/main.yml/badge.svg)](https://github.com/Coconuts2486-FRC/FRC-2025/actions/workflows/main.yml)
 
 
-![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)
-
-# Az-RBSI
-Arizona's Reference Build and Software Implementation for FRC Robots (read: "A-Z-ribsy")
 
 
-## Installation
 
-Installation instructions are found in the [INSTALL.md](INSTALL.md) file.  See
-the [Releases Page](https://github.com/AZ-First/Az-RBSI/releases) for details
-on the latest release, including restrictions and cautions.
 
+![Reefscape Logo](https://github.com/AZ-First/Az-RBSI/blob/main/fd_frc_reefscape_patch+frc_rgb.png?raw=true)
 
-## Purpose
-
-The purpose of Az-RBSI is to help Arizona FRC teams with:
-* Improving robot reliability / performance during “Autonomous Play”
-* Improving robot build & endurance, gameplay reliability and troubleshooting
-    skills
-* Providing a standardized robot “stack” to allow for quick software setup and
-    troubleshooting, and make it easier for Arizona teams to form effective
-    in-state alliances
+![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)
 
+# CocoNuts Team 2486 -- 2025 REEFSCAPE Robot Code
 
-## Design Philosophy
+Drive base code built on [Az-RBSI](https://github.com/AZ-First/Az-RBSI) produced by Arizona FIRST.
 
-The Az-RBSI is centered around a "Reference Build" robot that allows for teams
-to communicate quickly and effectivly with each other about gameplay strategy
-and troubleshooting.  Additionally, the consolidation around a standard robot
-design allows for easier swapping of spare parts and programming modules.
+## Robot Name
 
-The Az-RBSI software is an outline of an FRC robot program upon which teams can
-build with their particular mechanisms and designs.  It weaves together popular
-and currently maintained FIRST- and community-sponsored software libraries to
-provide a baseline robot functionality that combines robust reliability with
-effective logging for troubleshooting.
+We haven't named our 2025 robot yet.
 
+## 2025 Competition Schedule
 
-## Library Dependencies
+Week 1 - Orange County Regional (Costa Mesa, CA)
 
-* [WPILib](https://docs.wpilib.org/en/stable/index.html) -- FIRST basic libraries
-* [AdvantageKit](
-   https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/WHAT-IS-ADVANTAGEKIT.md)
-   -- Logging
-* [CTRE Phoenix6](
-  https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/mechanisms/swerve/swerve-overview.html)
-  / [YAGSL](https://yagsl.gitbook.io/yagsl) -- Swerve drive library
-* [PathPlanner](https://pathplanner.dev/home.html) / [Choreo](
-  https://sleipnirgroup.github.io/Choreo/) -- Autonomous path planning
-* [PhotonVision](https://docs.photonvision.org/en/latest/) / [Limelight](
-  https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)
-  -- Robot vision / tracking
+Week 3 - Arizona North Regional (Flagstaff, AZ)
 
-## Further Reading
+Week 6 - South Florida Regional (Miami, FL)
 
-For tips on command-based programming, see this post:
-https://bovlb.github.io/frc-tips/commands/best-practices.html
+2025 FIRST Championship (Houston, TX)
diff --git a/fd_frc_reefscape_patch+frc_rgb.png b/fd_frc_reefscape_patch+frc_rgb.png
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -1,3 +1,5 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
 // Copyright (c) 2024-2025 Az-FIRST
 // http://github.com/AZ-First
 //
@@ -66,7 +68,7 @@ public final class Constants {
    * Define the various multiple robots that use this same code (e.g., COMPBOT, DEVBOT, SIMBOT,
    * etc.) and the operating modes of the code (REAL, SIM, or REPLAY)
    */
-  private static RobotType robotType = RobotType.COMPBOT;
+  private static RobotType robotType = RobotType.GEORGE;
 
   // Define swerve, auto, and vision types being used
   // NOTE: Only PHOENIX6 swerve base has been tested at this point!!!
@@ -80,7 +82,7 @@ public final class Constants {
 
   /** Enumerate the robot types (name your robots here) */
   public static enum RobotType {
-    DEVBOT, // Development / Alpha / Practice Bot
+    GEORGE, // Development / Alpha / Practice Bot
     COMPBOT, // Competition robot
     SIMBOT // Simulated robot
   }
@@ -137,7 +139,7 @@ public static final class DrivebaseConstants {
     // Theoretical free speed (m/s) at 12v applied output;
     // IMPORTANT: Follow the AdvantageKit instructions for measuring the ACTUAL maximum linear speed
     // of YOUR ROBOT, and replace the estimate here with your measured value!
-    public static final double kMaxLinearSpeed = Units.feetToMeters(18); // 18);
+    public static final double kMaxLinearSpeed = Units.feetToMeters(18);
 
     // Set 3/4 of a rotation per second as the max angular velocity (radians/sec)
     public static final double kMaxAngularSpeed = 1.5 * Math.PI;
@@ -168,38 +170,138 @@ public static final class DrivebaseConstants {
     public static final double kSteerD = 1.0;
   }
 
-  /** Example Flywheel Mechanism Constants ********************************* */
-  public static final class FlywheelConstants {
+  /** Elevator Subsystem Constants ***************************************** */
+  public static final class ElevatorConstants {
 
-    // Mechanism idle mode
-    public static final MotorIdleMode kFlywheelIdleMode = MotorIdleMode.COAST; // BRAKE, COAST
+    // Idle Mode
+    public static final MotorIdleMode kElevatorIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
 
-    // Mechanism motor gear ratio
-    public static final double kFlywheelGearRatio = 1.5;
+    // Gear Ratio
+    public static final double kElevatorGearRatio = 10.0;
 
-    // MODE == REAL / REPLAY
-    // Feedforward constants
+    // mode real/replay
     public static final double kStaticGainReal = 0.1;
     public static final double kVelocityGainReal = 0.05;
-    // Feedback (PID) constants
-    public static final PIDConstants pidReal = new PIDConstants(1.0, 0.0, 0.0);
-
-    // MODE == SIM
-    // Feedforward constants
-    public static final double kStaticGainSim = 0.0;
-    public static final double kVelocityGainSim = 0.03;
-    // Feedback (PID) constants
-    public static final PIDConstants pidSim = new PIDConstants(1.0, 0.0, 0.0);
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
   }
 
-  /** elevator subsystem constants ***************************************** */
-  public static final class ElevatorConstants {
+  /** Coral Mechanism Subsystem Constants ********************************** */
+  public static final class CoralMechConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kCoralIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kCoralGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Intake Subsystem Constants ******************************************* */
+  public static final class IntakeConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kIntakePivotIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+    public static final MotorIdleMode kIntakeRollerIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kIntakePivotGearRatio = 10.0;
+    public static final double kIntakeRollerGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
 
-    // idle mode //6
-    public static final MotorIdleMode kElevatorIdle = MotorIdleMode.BRAKE;
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Algae Mechanism Subsystem Constants ********************************** */
+  public static final class AlgaeMechConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kAlgaePivotIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+    public static final MotorIdleMode kAlgaeRollerIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
 
-    // gear ratio
-    public static final double kElevatorGearRatio = 0.1;
+    // Gear Ratio
+    public static final double kAlgaePivotGearRatio = 10.0;
+    public static final double kAlgaeRollerGearRatio = 10.0;
 
     // mode real/replay
     public static final double kStaticGainReal = 0.1;
@@ -226,7 +328,47 @@ public static final class ElevatorConstants {
     public static final double kISim = 0;
     public static final double kDSim = 0;
 
-    // Magic motion constants
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Climb Subsystem Constants ******************************************** */
+  public static final class ClimbConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kClimbIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kClimbGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
     public static final double kVelocity = 1.4;
     public static final double kAcceleration = 2.8;
     public static final double kJerk = 0;
@@ -242,14 +384,14 @@ public static class AccelerometerConstants {
     public static final Rotation2d kRioOrientation =
         switch (getRobot()) {
           case COMPBOT -> Rotation2d.fromDegrees(90.);
-          case DEVBOT -> Rotation2d.fromDegrees(0.);
+          case GEORGE -> Rotation2d.fromDegrees(0.);
           default -> Rotation2d.fromDegrees(0.);
         };
     // IMU can be one of Pigeon2 or NavX
     public static final Rotation2d kIMUOrientation =
         switch (getRobot()) {
           case COMPBOT -> Rotation2d.fromDegrees(0.);
-          case DEVBOT -> Rotation2d.fromDegrees(0.);
+          case GEORGE -> Rotation2d.fromDegrees(0.);
           default -> Rotation2d.fromDegrees(0.);
         };
   }
@@ -259,7 +401,12 @@ public static class OperatorConstants {
 
     // Joystick Functions
     // Set to TRUE for Drive = Left Stick, Turn = Right Stick; else FALSE
-    public static final boolean kDriveLeftTurnRight = true;
+    public static final boolean kDriveLeftTurnRight =
+        switch (getRobot()) {
+          case GEORGE -> true; // Testing
+          case COMPBOT -> false; // Kate's preference
+          case SIMBOT -> true; // Default
+        };
 
     // Joystick Deadbands
     public static final double kDeadband = 0.1;
@@ -462,10 +609,6 @@ public static class AprilTagConstants {
     public enum AprilTagLayoutType {
       OFFICIAL("2025-official");
 
-      // SPEAKERS_ONLY("2024-speakers"),
-      // AMPS_ONLY("2024-amps"),
-      // WPI("2024-wpi");
-
       private AprilTagLayoutType(String name) {
         if (Constants.disableHAL) {
           layout = null;
@@ -519,7 +662,7 @@ public static RobotType getRobot() {
   /** Get the current robot mode */
   public static Mode getMode() {
     return switch (robotType) {
-      case DEVBOT, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+      case GEORGE, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
       case SIMBOT -> Mode.SIM;
     };
   }

diff --git a/.../robot/subsystems/Controls/ControlMap.txt → src/main/java/frc/robot/ControlMap.txt b/.../robot/subsystems/Controls/ControlMap.txt → src/main/java/frc/robot/ControlMap.txt