get 2024 working

src/main/java/frc4388/robot/RobotContainer.java

@@ -199,7 +199,7 @@ public class RobotContainer {
         // Arm down
         new Trigger(() -> !lt_down() && getDeadbandedDriverController().getXButton())
             .onTrue(new InstantCommand(() -> {
-                m_robotMap.m_robotIntake.PIDIn();
+                m_robotMap.m_robotIntake.PIDOut();
                 m_robotMap.m_robotIntake.spinIntakeMotor();
             }, m_robotMap.m_robotIntake))
             .onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopArmMotor(), m_robotMap.m_robotIntake));
@@ -215,10 +215,10 @@ public class RobotContainer {
         // Handoff / spit out
         new Trigger(() -> !lt_down() && getDeadbandedDriverController().getAButton())
             .onTrue(new InstantCommand(() -> {
-                m_robotMap.m_robotIntake.PIDIn();
+                // m_robotMap.m_robotIntake.PIDIn();
-                m_robotMap.m_robotIntake.stopIntakeMotors();
+                m_robotMap.m_robotIntake.handoff();
             }, m_robotMap.m_robotIntake))
-            .onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopArmMotor(), m_robotMap.m_robotIntake));
+            .onFalse(new InstantCommand(() -> m_robotMap.m_robotIntake.stopIntakeMotors(), m_robotMap.m_robotIntake));
 
         // Shoot
         new Trigger(() -> !lt_down() && rt_down())

src/main/java/frc4388/robot/RobotMap.java

@@ -73,7 +73,7 @@ public class RobotMap {
 
     public final Intake m_robotIntake;
     public final Shooter m_robotShooter;
-    public final Climber m_robotClimber;
+    // public final Climber m_robotClimber;
 
 
     public RobotMap(SimConstants.Mode mode) {
@@ -87,17 +87,17 @@ public class RobotMap {
         final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID.id);
 
         /* Climber Subsystem */
-        final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID.id);
+        // final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID.id);
 
         m_robotIntake = new Intake(intakeMotor, pivotMotor);
         m_robotShooter = new Shooter(leftShooter, rightShooter);
-        m_robotClimber = new Climber(climbMotor);
+        // m_robotClimber = new Climber(climbMotor);
 
         FaultTalonFX.addDevice(leftShooter, "Left Shooter");
         FaultTalonFX.addDevice(rightShooter, "Right Shooter");
         FaultTalonFX.addDevice(intakeMotor, "Intake Motor");
         FaultTalonFX.addDevice(pivotMotor, "Pivot Motor");
-        FaultTalonFX.addDevice(climbMotor, "Climb Motor");
+        // FaultTalonFX.addDevice(climbMotor, "Climb Motor");
 
 
         switch (mode) {

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024AcrossTheRidgebotiverse";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 21;
+  public static final int GIT_REVISION = 22;
-  public static final String GIT_SHA = "f74be4b547fafc94c234cef14666422f4c4dd8e8";
+  public static final String GIT_SHA = "80898f9b8989798e047c7ebbc145dd2aa7d4f12e";
-  public static final String GIT_DATE = "2024-10-26 12:45:10 MDT";
+  public static final String GIT_DATE = "2026-04-28 16:32:28 MDT";
   public static final String GIT_BRANCH = "2026-postseason-demo";
-  public static final String BUILD_DATE = "2026-04-28 14:57:26 MDT";
+  public static final String BUILD_DATE = "2026-04-28 17:50:07 MDT";
-  public static final long BUILD_UNIX_TIME = 1777409846756L;
+  public static final long BUILD_UNIX_TIME = 1777420207150L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/constants/Constants.java

@@ -32,7 +32,7 @@ import frc4388.utility.structs.LEDPatterns;
  */
 public final class Constants {
     public static final CANBus RIO_CANBUS = CANBus.roboRIO();
-    public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
+    // public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
 
     // public static final class LiDARConstants {
     //     public static final int REEF_LIDAR_DIO_CHANNEL = 7;

src/main/java/frc4388/robot/constants/ShooterConstants.java

@@ -6,8 +6,8 @@ public class ShooterConstants {
     // public static final int LEFT_SHOOTER_ID = 15; // final
     // public static final int RIGHT_SHOOTER_ID = 16; // final
 
-    public static final CanDevice LEFT_SHOOTER_ID = new CanDevice("Left Shooter Motor", 15);    
+    public static final CanDevice LEFT_SHOOTER_ID = new CanDevice("Left Shooter Motor", 45);    
-    public static final CanDevice RIGHT_SHOOTER_ID = new CanDevice("Right Shooter Motor", 16);
+    public static final CanDevice RIGHT_SHOOTER_ID = new CanDevice("Right Shooter Motor", 46);
 
 
     

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -33,7 +33,9 @@ public class Intake extends SubsystemBase {
 
     // in init function, set slot 0 gains
     var slot0Configs = new Slot0Configs();
-    slot0Configs.kP = 1.3; // An error of 0.5 rotations results in 12 V output
+    // slot0Configs.kP = 1.3; // An error of 0.5 rotations results in 12 V output
+    slot0Configs.kP = 0.5; // An error of 0.5 rotations results in 12 V output
+
     slot0Configs.kI = 0.0; // no output for integrated error
     slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output
 

src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java

@@ -82,7 +82,7 @@ public final class SwerveDriveConstants {
 
     private static final class ModuleSpecificConstants { //2025
         //Front Left
-        private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0);
+        private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.364746-0.25);
         private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
         private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
         private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
@@ -90,7 +90,7 @@ public final class SwerveDriveConstants {
         private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
         
         //Front Right
-        private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0);
+        private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.106446-0.25);
         private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
         private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
         private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
@@ -98,7 +98,7 @@ public final class SwerveDriveConstants {
         private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
 
         //Back Left
-        private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0);
+        private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(-0.019287);
         private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
         private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
         private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
@@ -106,7 +106,7 @@ public final class SwerveDriveConstants {
         private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
         
         //Back Right
-        private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0);
+        private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.603516-0.25);
         private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
         private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
         private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
@@ -212,7 +212,7 @@ public final class SwerveDriveConstants {
     }
 
     public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
-        .withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(Constants.CANIVORE_CANBUS.getName());
+        .withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(Constants.RIO_CANBUS.getName());
 
     private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
         new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.