Work on implementing adv

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

src/main/java/frc4388/robot/Robot.java

@@ -15,13 +15,14 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.robot.constants.BuildConstants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.utility.DeferredBlock;
-import frc4388.utility.Trim;
 import frc4388.utility.compute.RobotTime;
+import frc4388.utility.compute.Trim;
 import frc4388.utility.status.FaultReporter;
 
 //import frc4388.robot.subsystems.LED;
@@ -52,8 +53,8 @@ public class Robot extends LoggedRobot {
     m_robotContainer = new RobotContainer();
 
 
-    // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
+    // // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
-    FaultReporter.startThread();
+    // FaultReporter.startThread();
   }
 
   /**
@@ -205,13 +206,13 @@ public class Robot extends LoggedRobot {
   // }
 
 
-  // @Override
+  @Override
-  // public void simulationPeriodic() {
+  public void simulationPeriodic() {
-  //   m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
+    m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
-  //   visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
+    // visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
 
-  //   // m_robotContainer.m_robotSwerveDrive.
+    // m_robotContainer.m_robotSwerveDrive.
-  // }
+  }
 
 
 

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

@@ -15,6 +15,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc4388.utility.controller.XboxController;
@@ -67,7 +68,7 @@ import frc4388.utility.compute.ReefPositionHelper.Side;
  * This class is where the bulk of the robot should be declared. Since
  * Command-based is a "declarative" paradigm, very little robot logic should
  * actually be handled in the {@link Robot} periodic methods (other than the
- * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * scheduler calls). Instead, the structure of the robot (2including subsystems,
  * commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
@@ -892,8 +893,15 @@ public class RobotContainer {
     public void makeAutoChooser() {
         autoChooser = new SendableChooser<String>();
         
-        File dir = new File("/home/lvuser/deploy/pathplanner/autos/");
+        File dir;
-        // File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
+
+        if(RobotBase.isReal()) {
+            dir = new File("/home/lvuser/deploy/pathplanner/autos/");
+        } else {
+            // dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
+            dir = new File("/home/astatin3/Documents/GitHub/2025RidgeScape/src/main/deploy/pathplanner/autos");
+        }
+
         String[] autos = dir.list();
 
         if(autos == null) return;

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 = "2025RidgeScape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 166;
+  public static final int GIT_REVISION = 168;
-  public static final String GIT_SHA = "c183c08a3d92ff8561bef96dad52b8dd64d94f14";
+  public static final String GIT_SHA = "9fd98bce241ee2aef0855f3ce8bb0b37aee723c2";
-  public static final String GIT_DATE = "2025-07-11 17:58:22 MDT";
+  public static final String GIT_DATE = "2025-07-13 19:41:05 MDT";
   public static final String GIT_BRANCH = "advantagekit";
-  public static final String BUILD_DATE = "2025-07-13 19:23:17 MDT";
+  public static final String BUILD_DATE = "2025-07-14 01:44:15 MDT";
-  public static final long BUILD_UNIX_TIME = 1752456197462L;
+  public static final long BUILD_UNIX_TIME = 1752479055707L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -20,7 +20,7 @@ import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
-import frc4388.utility.Trim;
+import frc4388.utility.compute.Trim;
 import frc4388.utility.status.CanDevice;
 import frc4388.utility.structs.Gains;
 import frc4388.utility.structs.LEDPatterns;

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

@@ -94,10 +94,10 @@ public class DiffDrive extends SubsystemBase implements Queryable {
       return "Diff Drive";
   }
 
-  @Override
+  // @Override
-  public void queryStatus() {
+  // public void queryStatus() {
-      // TODO: Add Stuff
+  //     // TODO: Add Stuff
-  }
+  // }
 
   @Override
   public Status diagnosticStatus() {

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

@@ -378,8 +378,8 @@ public class Elevator extends SubsystemBase implements Queryable {
     return "Elevator";
   }
 
-  @Override
+  // @Override
-  public void queryStatus() {}
+  // public void queryStatus() {}
 
   @Override
   public Status diagnosticStatus() {

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

@@ -53,10 +53,10 @@ public class LED extends SubsystemBase implements Queryable {
     return "LEDs";
   }
 
-  @Override
+  // @Override
-  public void queryStatus() {
+  // public void queryStatus() {
-    SmartDashboard.putString("LED status", mode.name());
+  //   SmartDashboard.putString("LED status", mode.name());
-  }
+  // }
 
   @Override
   public Status diagnosticStatus() {

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

@@ -1,5 +1,7 @@
 package frc4388.robot.subsystems;
 
+import org.littletonrobotics.junction.AutoLogOutput;
+
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.Counter;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@@ -53,6 +55,7 @@ public class Lidar extends SubsystemBase implements Queryable {
             distance = (LidarPWM.getPeriod() * LiDARConstants.SECONDS_TO_MICROS) / LiDARConstants.LIDAR_MICROS_TO_CM;
     }
 
+    @AutoLogOutput
     public double getDistance(){
         return distance;
     }
@@ -71,11 +74,11 @@ public class Lidar extends SubsystemBase implements Queryable {
         return "Lidar " + name;
     }
 
-    @Override
+    // @Override
-    public void queryStatus() {
+    // public void queryStatus() {
-        sbDistance.setDouble(distance);
+    //     sbDistance.setDouble(distance);
-        sbWithinDistance.setBoolean(withinDistance());
+    //     sbWithinDistance.setBoolean(withinDistance());
-    }
+    // }
 
     @Override
     public Status diagnosticStatus() {

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

@@ -467,13 +467,13 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
             .withWidget(BuiltInWidgets.kNumberBar)
             .getEntry();
 
-    @Override
+    // @Override
-    public void queryStatus() {
+    // public void queryStatus() {
-        sbGyro.setDouble(getGyroAngle());
+    //     sbGyro.setDouble(getGyroAngle());
-        sbShiftState.setDouble(this.speedAdjust);
+    //     sbShiftState.setDouble(this.speedAdjust);
 
-        // TODO: Add more status things
+    //     // TODO: Add more status things
-    }
+    // }
 
     @Override
     public Status diagnosticStatus() {

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

@@ -309,12 +309,12 @@ public class Vision extends SubsystemBase implements Queryable {
 //   .getEntry();
 
 
-    @Override
+    // @Override
-    public void queryStatus() {
+    // public void queryStatus() {
-        sbTagDetected.setBoolean(isTagDetected);
+    //     sbTagDetected.setBoolean(isTagDetected);
-        sbTagProcessed.setBoolean(isTagProcessed);
+    //     sbTagProcessed.setBoolean(isTagProcessed);
-        // field.setRobotPose(getPose2d());
+    //     // field.setRobotPose(getPose2d());
-    }
+    // }
 
     @Override
     public Status diagnosticStatus() {

src/main/java/frc4388/utility/compute/Trim.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc4388.utility;
+package frc4388.utility.compute;
 
 import java.io.FileInputStream;
 import java.io.FileOutputStream;
@@ -11,7 +11,6 @@ import java.util.ArrayList;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import frc4388.utility.compute.DataUtils;
 
 /**
  * Reboot persistant Trims.

src/main/java/frc4388/utility/controller/DeadbandedXboxController.java

@@ -1,3 +1,4 @@
+
 package frc4388.utility.controller;
 
 import static frc4388.robot.constants.Constants.OIConstants.LEFT_AXIS_DEADBAND;

src/main/java/frc4388/utility/status/FaultCANCoder.java

@@ -22,13 +22,7 @@ public class FaultCANCoder implements Queryable {
     public String getName() {
         return name;
     }
-
+    
-    @Override
-    public void queryStatus() {
-        // TODO Auto-generated method stub
-        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
-    }
-
     @Override
     public Status diagnosticStatus() {
         Status s = new Status();

src/main/java/frc4388/utility/status/FaultPhotonCamera.java

@@ -22,9 +22,6 @@ public class FaultPhotonCamera implements Queryable {
         return name;
     }
 
-    @Override
-    public void queryStatus() {}
-
     @Override
     public Status diagnosticStatus() {
         Status s = new Status();

src/main/java/frc4388/utility/status/FaultPidgeon2.java

@@ -22,13 +22,7 @@ public class FaultPidgeon2 implements Queryable {
     public String getName() {
         return name;
     }
-
+    
-    @Override
-    public void queryStatus() {
-        // TODO Auto-generated method stub
-        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
-    }
-
     @Override
     public Status diagnosticStatus() {
         Status s = new Status();

src/main/java/frc4388/utility/status/FaultReporter.java

@@ -32,25 +32,25 @@ public class FaultReporter {
 
     private static List<Queryable> queryables = new ArrayList<>();
 
-    public static void startThread() {
+    // public static void startThread() {
-        new Thread() {
+    //     new Thread() {
-            public void run() {
+    //         public void run() {
-              try{
+    //           try{
-              while(!this.isInterrupted() && this.isAlive()){
+    //           while(!this.isInterrupted() && this.isAlive()){
-                Thread.sleep(500);
+    //             Thread.sleep(500);
-                for(int i=0;i<queryables.size(); i++){
+    //             for(int i=0;i<queryables.size(); i++){
-                  queryables.get(i).queryStatus();
+    //               queryables.get(i).queryStatus();
-                }
+    //             }
       
-                // System.out.println("Updated statuses!");
+    //             // System.out.println("Updated statuses!");
                 
-              }
+    //           }
-              }catch(Exception e){
+    //           }catch(Exception e){
-                  e.printStackTrace();
+    //               e.printStackTrace();
-              }
+    //           }
-            }
+    //         }
-        }.start();
+    //     }.start();
-    }
+    // }
 
     public static void register(Queryable q) {
         queryables.add(q);

src/main/java/frc4388/utility/status/FaultTalonFX.java

@@ -23,12 +23,6 @@ public class FaultTalonFX implements Queryable {
         return name;
     }
 
-    @Override
-    public void queryStatus() {
-        // TODO Auto-generated method stub
-        // throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
-    }
-
     @Override
     public Status diagnosticStatus() {
         Status s = new Status();

src/main/java/frc4388/utility/status/Queryable.java

@@ -3,8 +3,6 @@ package frc4388.utility.status;
 public interface Queryable {
     // Get name of subsystem, for use in log.
     String getName();
-    // Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
-    void queryStatus();
     // Proactivly search for any errors in each subsystem
     Status diagnosticStatus(); 
 }