Merge working code into main

.Glass/glass.json

@@ -0,0 +1,43 @@
+{
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "GroundCoral": {
+          "open": true
+        },
+        "open": true
+      }
+    },
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Pose": "Field2d",
+      "/SmartDashboard/Alerts": "Alerts",
+      "/SmartDashboard/Arm": "Subsystem",
+      "/SmartDashboard/ArmMinus": "Command",
+      "/SmartDashboard/ArmPlus": "Command",
+      "/SmartDashboard/Auto Chooser": "String Chooser",
+      "/SmartDashboard/Elevator": "Subsystem",
+      "/SmartDashboard/Elevator duty cycle up": "Command",
+      "/SmartDashboard/EndEffector": "Subsystem",
+      "/SmartDashboard/Face Hex": "Command",
+      "/SmartDashboard/Face Net": "Command",
+      "/SmartDashboard/GroundCoral": "Subsystem",
+      "/SmartDashboard/Module 0": "Mechanism2d",
+      "/SmartDashboard/Module 1": "Mechanism2d",
+      "/SmartDashboard/Module 2": "Mechanism2d",
+      "/SmartDashboard/Module 3": "Mechanism2d",
+      "/SmartDashboard/Reset Gyro": "Command",
+      "/SmartDashboard/Scheduler": "Scheduler",
+      "/SmartDashboard/Wrist": "Subsystem",
+      "/SmartDashboard/Zero Arm": "Command",
+      "/SmartDashboard/Zero Wrist": "Command"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "696"
+  }
+}

.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "2025BuildSeason"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

README.md

@@ -1 +1,2 @@
-# 2025BuildSeason
+# 2025BuildSeason
+The official robot code for the 2025 onseason robot, Hail Mary

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
     id "com.peterabeles.gversion" version "1.10"
 }
 

simgui-ds.json

@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
   ]
 }

src/main/deploy/pathplanner/autos/LeftSide.auto

@@ -0,0 +1,139 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "gotoreef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L4"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "thentosource"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.2
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Intake"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "backtoreef"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AfterIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L4"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "tosource2"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.2
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Intake"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "end"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AfterIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/centermove.auto → src/main/deploy/pathplanner/autos/Middle.auto

@@ -7,13 +7,19 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CenterTrussMove"
+            "pathName": "MiddleOne"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L4"
           }
         }
       ]
     }
   },
-  "resetOdom": true,
+  "resetOdom": false,
   "folder": null,
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/MiddleNet.auto

@@ -0,0 +1,74 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "middlestart"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "middlemove"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L2Algae"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "middletonet"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AlgaeUp"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Barge"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "bargetoreef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L3Algae"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}