New Code

.vscode/settings.json

@@ -58,5 +58,6 @@
     "edu.wpi.first.math.**.struct.*",
   ],
   "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
-  "wpilib.autoStartRioLog": false
+  "wpilib.autoStartRioLog": false,
+  "java.debug.settings.onBuildFailureProceed": true
 }

src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

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

@@ -40,9 +40,6 @@ import frc4388.robot.commands.MoveUntilSuply;
 import frc4388.robot.commands.alignment.DriveToReef;
 import frc4388.robot.commands.alignment.DriveUntilLiDAR;
 import frc4388.robot.commands.alignment.LidarAlign;
-import frc4388.robot.commands.wait.waitElevatorRefrence;
-import frc4388.robot.commands.wait.waitEndefectorRefrence;
-import frc4388.robot.commands.wait.waitFeedCoral;
 import frc4388.robot.commands.wait.waitSupplier;
 import frc4388.robot.constants.Constants;
 import frc4388.robot.constants.Constants.AutoConstants;
@@ -55,8 +52,8 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 // Subsystems
 import frc4388.robot.subsystems.LED;
-import frc4388.robot.subsystems.elevator.Elevator;
+//Rimport frc4388.robot.subsystems.elevator.Elevator;
-import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
+//Rimport frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
 import frc4388.robot.subsystems.lidar.LiDAR;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
@@ -80,7 +77,7 @@ public class RobotContainer {
     /* Subsystems */
     public final LED m_robotLED = new LED();
     public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
-    public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
+    //Rpublic final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
 

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

@@ -17,12 +17,9 @@ import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DigitalInput;
-import frc4388.robot.constants.Constants.ElevatorConstants;
 import frc4388.robot.constants.Constants.LiDARConstants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.robot.constants.Constants.VisionConstants;
-import frc4388.robot.subsystems.elevator.ElevatorIO;
-import frc4388.robot.subsystems.elevator.ElevatorReal;
 import frc4388.robot.subsystems.lidar.LiDAR;
 import frc4388.robot.subsystems.lidar.LidarIO;
 import frc4388.robot.subsystems.lidar.LidarReal;
@@ -59,8 +56,6 @@ public class RobotMap {
     /* Swreve Drive Subsystem */
     public final SwerveIO swerveDrivetrain;
 
-    /* Elevator Subsystem */
-    public final ElevatorIO elevatorIO;
 
     public RobotMap(SimConstants.Mode mode) {
         switch (mode) {
@@ -88,25 +83,13 @@ public class RobotMap {
 
                 swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
 
-                // Configure elevator
+               
-
-                TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
-                TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
-                
-
-                DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
-                DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
-                DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
-
-                elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
-
-
 
                 // Fault
                 FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
 
-                FaultTalonFX.addDevice(elevator, "Elevator");
+                //FaultTalonFX.addDevice(elevator, "Elevator");
-                FaultTalonFX.addDevice(endeffector, "Endeffector");
+                //FaultTalonFX.addDevice(endeffector, "Endeffector");
                 
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -130,7 +113,6 @@ public class RobotMap {
                 reefLidar = new LidarIO() {};
                 reverseLidar = new LidarIO() {};
                 swerveDrivetrain = new SwerveIO() {};
-                elevatorIO = new ElevatorIO() {};
                 break;
         }
     }

src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.autos;
+package frc4388.robot.commands.Autos;
 // package frc4388.robot.commands.Autos;
 
 // import java.io.File;

src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.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.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.commands.PID;

src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import java.io.FileInputStream;
 import java.util.ArrayList;

src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import java.io.FileOutputStream;
 import java.util.ArrayList;

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

@@ -5,14 +5,14 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2025RidgeScape";
+  public static final String MAVEN_NAME = "Robot-Essentials";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 173;
+  public static final int GIT_REVISION = 123;
-  public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
+  public static final String GIT_SHA = "56841636f984f1a691134b4f1ae8862353846b54";
-  public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
+  public static final String GIT_DATE = "2025-10-30 16:40:04 MDT";
-  public static final String GIT_BRANCH = "advantagekit";
+  public static final String GIT_BRANCH = "Confiruagble-Contants";
-  public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
+  public static final String BUILD_DATE = "2025-10-30 17:42:04 MDT";
-  public static final long BUILD_UNIX_TIME = 1752774931371L;
+  public static final long BUILD_UNIX_TIME = 1761867724046L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -69,6 +69,8 @@ public final class Constants {
         public static final double MIN_ROT_PID_OUTPUT = 0.0;
 
         public static final double VELOCITY_THRESHHOLD = 0.01;
+        public static final double X_SCORING_POSITION_OFFSET = 2;
+        public static final double STOP_VELOCITY = 2;
     }
   
 

src/main/java/frc4388/utility/configurable/TunableNumber.java

@@ -0,0 +1,31 @@
+package frc4388.utility.configurable;
+import frc4388.robot.constants.Constants;
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+public class TunableNumber {
+    private final String name;
+    private final ShuffleboardTab tab;
+    private final double defaultValue;
+    private GenericEntry entry;
+
+    public TunableNumber(String tabName, String name, double defaultValue) {
+        this.name = name;
+        this.tab = Shuffleboard.getTab(tabName);
+        this.defaultValue = defaultValue;
+        this.entry = tab.add(name, defaultValue)
+                        .withWidget(BuiltInWidgets.kTextView)
+                        .getEntry();
+    }   
+
+    public double get() {
+        return entry.getDouble(defaultValue);
+    }  
+
+    public void set(double value) {
+        entry.setDouble(value);
+    }
+}