Path planner auton

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}

README.md

@@ -5,13 +5,15 @@ Team 5417's code for the swerve bot, _Vira_!
 [![CI](https://github.com/frc5417/CustomSwerve/actions/workflows/main.yml/badge.svg)](https://github.com/frc5417/CustomSwerve/actions/workflows/main.yml)
 
 This is our custom algorithm for swerve. Here are the developers:
-* Krishna Shah
-* Jordan Escobedo
-* Rupak Bhattacharya
-* Pranav Gattineni
-* Brennan Coil
-* Lucas Hatcher
-* Joshua Vigel
-* Matthew Caldarola
-* Jeevan Adhya Vinoth Babu 
-* Ethan Wallraven
+
+Krishna Shah
+Jordan Escobedo
+Rupak Bhattacharya
+Pranav Gattineni
+Brennan Coil
+Lucas Hatcher
+Joshua Vigel
+Matthew Caldarola
+Jeevan Adhya Vinoth Babu
+Ethan Wallraven
+Boden Smith

build.gradle

@@ -43,7 +43,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,103 @@
+{
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        },
+        {},
+        {
+          "decKey": 264,
+          "incKey": 265
+        }
+      ],
+      "axisCount": 5,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,103 @@
+{
+  "HALProvider": {
+    "Other Devices": {
+      "SPARK MAX [10]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [11]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [20]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [21]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [30]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [31]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [40]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [41]": {
+        "header": {
+          "open": true
+        }
+      },
+      "navX-Sensor[0]": {
+        "header": {
+          "open": true
+        }
+      }
+    },
+    "RoboRIO": {
+      "5V Rail": {
+        "open": true
+      },
+      "6V Rail": {
+        "open": true
+      },
+      "RoboRIO Input": {
+        "open": true
+      },
+      "window": {
+        "visible": true
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/SendableChooser[0]": "String Chooser"
+    },
+    "windows": {
+      "/SmartDashboard/SendableChooser[0]": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables View": {
+    "visible": false
+  },
+  "Plot": {
+    "Plot <0>": {
+      "plots": [
+        {
+          "height": 332
+        }
+      ],
+      "window": {
+        "visible": false
+      }
+    },
+    "Plot <1>": {
+      "plots": [
+        {
+          "height": 332
+        }
+      ],
+      "window": {
+        "visible": false
+      }
+    }
+  }
+}

src/main/deploy/pathplanner/deploy/pathplanner/New Path.path

@@ -0,0 +1,74 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.0,
+        "y": 3.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.0,
+        "y": 3.0
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 4.0
+      },
+      "nextControl": {
+        "x": 3.0,
+        "y": 4.0
+      },
+      "holonomicAngle": 0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 5.0,
+        "y": 3.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 3.0
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}

src/main/deploy/pathplanner/straight_line.path

@@ -0,0 +1,49 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.0,
+        "y": 1.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.0,
+        "y": 1.486914226526235
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 1.0,
+        "y": 2.0
+      },
+      "prevControl": {
+        "x": 0.9999999999999999,
+        "y": 1.0
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}