Add Intake/Shooter system

README.md

@@ -0,0 +1,2 @@
+The version was made by Levi L (or CNrailfaner4039 on YouTube ©)
+Other people assisted in the creation on this file (Located in the copyright and colaberators)

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "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
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/robot/BuildConstants.java

@@ -4,13 +4,13 @@
  * Automatically generated file containing build version information.
  */
 public final class BuildConstants {
-    public static final String MAVEN_GROUP = "";
+    public static final String MAVEN_GROUP = "2530";
     public static final String MAVEN_NAME = "RobotCode2026";
-    public static final String VERSION = "unspecified";
+    public static final String VERSION = "ThE mOsT rEcEnT oNe";
     public static final int GIT_REVISION = 5;
     public static final String GIT_SHA = "bccd7eb881eba8a2c445853e5af72829a1aaac19";
-    public static final String GIT_DATE = "2026-01-10 09:47:49 CST";
-    public static final String GIT_BRANCH = "updating";
+    public static final String GIT_DATE = "2026-01-30 09:14:49 CST";
+    public static final String GIT_BRANCH = "Climber";
     public static final String BUILD_DATE = "2026-01-12 20:55:55 CST";
     public static final long BUILD_UNIX_TIME = 1768272955275L;
     public static final int DIRTY = 1;

src/main/java/frc/robot/Constants.java

@@ -66,21 +66,111 @@ public static Alliance getAlliance() {
     }
   }
 
+  public static class SwerveModuleConstants {
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double WHEEL_DIAMETER = Units.inchesToMeters(3.85); // ~4 in
+    public static final double STEERING_GEAR_RATIO = 1.d / (150d / 7d);
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    // This is for L2 modules with 16T pinions
+    public static final double DRIVE_GEAR_RATIO = (1.d / 6.75d);
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double DRIVE_ROTATION_TO_METER = DRIVE_GEAR_RATIO * Math.PI * WHEEL_DIAMETER;
+    public static final double STEER_ROTATION_TO_RADIANS = STEERING_GEAR_RATIO * Math.PI * 2d;
+    public static final double DRIVE_METERS_PER_MINUTE = DRIVE_ROTATION_TO_METER / 60d;
+    public static final double STEER_RADIANS_PER_MINUTE = STEER_ROTATION_TO_RADIANS / 60d;
+    public static final double STEER_MAX_RAD_SEC = 0.8 * STEERING_GEAR_RATIO * ((5880.f * 2.f * Math.PI) / 60.f);
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double WHEEL_FRICTION_COEFFICIENT = 1.2;
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double MODULE_KP = 0.46368;
+    public static final double MODULE_KD = 0.0050806;
+
+    // --------- Front Left Module --------- \\
+    public static final int FL_DRIVE_ID = 10;
+    public static final int FL_STEER_ID = 11;
+    public static final int FL_ABSOLUTE_ENCODER_PORT = 30;
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(0);
+    public static final boolean FL_ABSOLUTE_ENCODER_REVERSED = false;
+    public static final boolean FL_MOTOR_REVERSED = true;
+    public static final boolean FL_STEERING_MOTOR_REVERSED = true;
+
+    // --------- Front Right Module --------- \\
+    public static final int FR_DRIVE_ID = 12;
+    public static final int FR_STEER_ID = 13;
+    public static final int FR_ABSOLUTE_ENCODER_PORT = 31;
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(0);
+    public static final boolean FR_ABSOLUTE_ENCODER_REVERSED = false;
+    public static final boolean FR_MOTOR_REVERSED = true;
+    public static final boolean FR_STEERING_MOTOR_REVERSED = true;
+
+    // --------- Back Right Module --------- \\
+    public static final int BR_DRIVE_ID = 14;
+    public static final int BR_STEER_ID = 15;
+    public static final int BR_ABSOLUTE_ENCODER_PORT = 32;
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0);
+    public static final boolean BR_ABSOLUTE_ENCODER_REVERSED = false;
+    public static final boolean BR_MOTOR_REVERSED = true;
+    public static final boolean BR_STEERING_MOTOR_REVERSED = true;
+
+    // --------- Back Left Module --------- \\
+    public static final int BL_DRIVE_ID = 16;
+    public static final int BL_STEER_ID = 17;
+    public static final int BL_ABSOLUTE_ENCODER_PORT = 33;
+
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(0);
+    public static final boolean BL_ABSOLUTE_ENCODER_REVERSED = false;
+    public static final boolean BL_MOTOR_REVERSED = true;
+    public static final boolean BL_STEERING_MOTOR_REVERSED = true;
+  }
+
+
+
   /*|-----------WARNING-----------------|
    *|edit with caution, used in all subs|
    *|-----------------------------------|
    *|Motor Config (YOU HAVE BEEN WARNED)|
    *|-----------------------------------|
-   *|edits can have catastafic falure---|
+   *|edits can have catastafic falures--|
 *///|-----------WARNING-----------------|
   //---Intake Motors---\\
   public static class IntakeMotors {
+    //Intake motor 1
+    public static final int INTAKESUBSYSTEM_MOTOR = 4;//TODO: IDs and speeds need to be changed
     public static final int INTAKESUBSYSTEM_MOTOR = 4;//TODO: IDs and speeds need to be changed. DONE: FALSE
     public static final double INTAKE_SPEED = 0.6;
-    public static final int INTAKE_MOTOR1 = 5;
-    public static final double INTAKE_SPEED1 = 0.6;
+    //Pivot Motor for intake
+    public static final int INTAKE_PIVOT_MOTOR = 5;
+    public static final double INTAKE_PIVOT_SPEED = 0.6;
+  }
+  //----Climb Motors---\\
+  public static class ClimbMotors {
+    public static final int CLIMBSUBSYSTEM_MOTOR = 6;//TODO: IDs and speeds need to be changed
+    public static final double CLIMB_SPEED = 0.6;
   }
 
+   //---------Speed Def---------\\
+  //time = seconds  doing nothing\\
+  public static class Sleep {
+    public static final double up = 3; //TODO: time ajustment. (Time is Seconds)
+    public static final double finishUP = 1;
+    public static final double down = 1;
+    public static final double finishDN = 3; 
+  }
+
+
+  public static class DriveConstants {
   public static final class DriveConstants {
     // TODO: Make sure that this is correct - this is from the SDS website but needs
     // empirical verification
@@ -268,6 +358,11 @@ public static final class PoseConstants {
             put(i, TAG_LAYOUT.getTagPose(i + 1).get().toPose2d());
         }
       }};
-
   }
-}
+  public static final class TurretConstants {
+    // TODO: UPDATE BASED ON REAL ROBOT
+    public static final int FlyWheelID = 20;
+    public static final double FlyWheelSpeed = 0.3;
+    public static final double FlyWheelDiameterMeters = Units.inchesToMeters(4);
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import java.util.function.BooleanSupplier;
+
 import org.littletonrobotics.urcl.URCL;
 
 import com.ctre.phoenix6.SignalLogger;
@@ -129,6 +131,8 @@ public void disabledPeriodic() {
 
   }
 
+
+
   /**
    * This autonomous runs the autonomous command selected by your
    * {@link RobotContainer} class.