Team4388/2026KPopRobotHunters
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Merge branch 'shoot-button' into Leds_idk

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This commit is contained in:
Michael Mikovsky
2026-02-11 16:34:12 -07:00
committed by GitHub
parent 0cc2d423fe f2415195ce
commit de0876293b
35 changed files with 1597 additions and 370 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+8 -8
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@@ -5,15 +5,15 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 9;
public static final String GIT_SHA = "fe412d09810b860f3ac2a65296613feac250a4e9";
public static final String GIT_DATE = "2026-01-19 13:57:43 MST";
public static final String GIT_BRANCH = "master";
public static final String BUILD_DATE = "2026-01-27 19:38:56 MST";
public static final long BUILD_UNIX_TIME = 1769567936908L;
public static final int DIRTY = 1;
public static final int GIT_REVISION = 40;
public static final String GIT_SHA = "983b95fdc704ef35b6f5e2dada2c6348f3c67190";
public static final String GIT_DATE = "2026-02-10 19:42:47 MST";
public static final String GIT_BRANCH = "shoot-button";
public static final String BUILD_DATE = "2026-02-11 12:41:33 MST";
public static final long BUILD_UNIX_TIME = 1770838893524L;
public static final int DIRTY = 0;
private BuildConstants(){}
}
src/main/java/frc4388/robot/constants/Constants.java
+17 -22
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@@ -7,7 +7,7 @@
package frc4388.robot.constants;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.CANBus;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
@@ -21,7 +21,6 @@ import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotBase;
import frc4388.utility.compute.Trim;
import frc4388.utility.status.CanDevice;
import frc4388.utility.structs.Gains;
import frc4388.utility.structs.LEDPatterns;
@@ -34,7 +33,8 @@ import frc4388.utility.structs.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final String CANBUS_NAME = "rio";
public static final CANBus RIO_CANBUS = CANBus.roboRIO();
public static final CANBus CANIVORE_CANBUS = new CANBus("drivetrain");
// public static final class LiDARConstants {
// public static final int REEF_LIDAR_DIO_CHANNEL = 7;
@@ -91,32 +91,27 @@ public final class Constants {
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
}
public static final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
// Test april tag field layout
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
// Arrays.asList(new AprilTag[] {
// new AprilTag(1, new Pose3d(
// new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
// )),
// }), 100, 100);
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 9;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.SOLID_RED_ORANGE;
public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED;
public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW;
public static final LEDPatterns READY_PATTERN = LEDPatterns.SOLID_GREEN_DARK;
public static final LEDPatterns SCORING_PATTERN = LEDPatterns.RAINBOW_RAINBOW;
// LED color for when the intake is out
public static final LEDPatterns INTAKE_OUT = LEDPatterns.SOLID_RED;
// LED color for when the intake is out, but the driver conditions are bad
public static final LEDPatterns INTAKE_OUT_BADPHYS = LEDPatterns.RED_STROBE;
public static final LEDPatterns RED_PATTERN = LEDPatterns.LAVA_WAVES;
public static final LEDPatterns BLUE_PATTERN = LEDPatterns.OCEAN_WAVES;
// LED color for when the flywheel speed isn't in tolarance
public static final LEDPatterns BAD_FLYWEEL = LEDPatterns.SOLID_GOLD;
// LED color for when the flywheel speed isn't in tolarance, but the driver conditions are bad
public static final LEDPatterns BAD_FLYWEEL_BADPHYS = LEDPatterns.GOLD_STROBE;
// Operator ready to shoot
public static final LEDPatterns OPREADY = LEDPatterns.SOLID_WHITE;
// Operator ready to shoot, but the driver conditions are bad
public static final LEDPatterns OPREADY_BADPHYS = LEDPatterns.WHITE_STROBE;
}
public static final class OIConstants {
src/main/java/frc4388/robot/constants/FieldConstants.java
+27
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@@ -0,0 +1,27 @@
package frc4388.robot.constants;
import java.util.Arrays;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
public final class FieldConstants {
// public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
public static final Translation2d BLUE_HUB_POS = new Translation2d();
public static final Translation2d RED_HUB_POS = new Translation2d();
// Test april tag field layout
public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
Arrays.asList(new AprilTag[] {
new AprilTag(0, new Pose3d(
new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
)),
}), 100, 100);
}