14 houston code

build.gradle

@@ -21,6 +21,8 @@ deploy {
             team = project.frc.getTeamNumber()
             debug = project.frc.getDebugOrDefault(false)
 
+
+
             addAddress('10.19.14.2')
             addAddress('roborio-1914-FRC')
             addAddress('roborio-1914-FRC.lan')
@@ -31,8 +33,8 @@ deploy {
                 // First part is artifact name, 2nd is artifact type
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                }
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')){}
+
 
                 // Static files artifact
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {

simgui.json

@@ -1,10 +1,20 @@
 {
   "HALProvider": {
     "Other Devices": {
+      "Talon FX[1]": {
+        "header": {
+          "open": true
+        }
+      },
       "Talon FX[21]": {
         "header": {
           "open": false
         }
+      },
+      "Talon FX[4]": {
+        "header": {
+          "open": true
+        }
       }
     }
   },
@@ -19,6 +29,8 @@
       "/LiveWindow/Intake": "Subsystem",
       "/LiveWindow/IntakeSubsystem": "Subsystem",
       "/LiveWindow/Ungrouped/DifferentialDrive[1]": "DifferentialDrive",
+      "/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
+      "/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
       "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
       "/LiveWindow/Ungrouped/Talon FX [10]": "Motor Controller",
       "/LiveWindow/Ungrouped/Talon FX [11]": "Motor Controller",
@@ -30,6 +42,7 @@
       "/LiveWindow/Ungrouped/Talon FX [6]": "Motor Controller",
       "/LiveWindow/Ungrouped/Talon FX [7]": "Motor Controller",
       "/LiveWindow/Ungrouped/Talon FX [8]": "Motor Controller",
+      "/Shuffleboard/Coach Dashboard/Auto Setup/Auto Chooser": "String Chooser",
       "/Shuffleboard/Coach Dashboard/Auto Setup/Auto Routine": "String Chooser",
       "/Shuffleboard/Coach Dashboard/Climber/Re-Zero Encoder": "Command",
       "/Shuffleboard/Tuning Tab/re-zero encoder": "Command",

src/main/deploy/pathplanner/1BallPath.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.014272256392614,"y":4.5720091440182875},"prevControl":null,"nextControl":{"x":6.4702610417879045,"y":4.791928571198914},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.111445134282674,"y":5.741054520083724},"prevControl":{"x":6.194136921123319,"y":5.256716911445661},"nextControl":{"x":6.030422187426653,"y":6.215617494526128},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.995698067345501,"y":7.3036399237355445},"prevControl":{"x":6.018847480732934,"y":6.840651655986857},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/2BallMirrored.path

@@ -1 +1 @@
-{"waypoints":[{"anchorPoint":{"x":6.12301984097639,"y":5.000273291685826},"prevControl":null,"nextControl":{"x":5.729479813390006,"y":5.393813319272208},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.977123878298389,"y":6.273491027994715},"prevControl":{"x":5.787353346858592,"y":5.544284506290533},"nextControl":{"x":5.787353346858592,"y":5.544284506290533},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.940248791889989,"y":4.166894409738186},"prevControl":{"x":7.430961697366433,"y":4.328940303450225},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}
+{"waypoints":[{"anchorPoint":{"x":6.123019840974244,"y":5.127595065322078},"prevControl":null,"nextControl":{"x":5.67160627992142,"y":5.555859212984249},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.173893892091582,"y":6.0304221874266535},"prevControl":{"x":5.636882159840269,"y":5.5095603862093805},"nextControl":{"x":5.636882159840269,"y":5.5095603862093805},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.917099378502554,"y":4.3173655967565105},"prevControl":{"x":7.01427225639476,"y":4.618307970787793},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/3BallPath.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.77,"y":2.83},"prevControl":null,"nextControl":{"x":7.396441068563016,"y":1.8451628171206829},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.682623744884256,"y":2.048914139094286},"prevControl":{"x":7.206133557488454,"y":2.8322279929647087},"nextControl":{"x":4.421543524541642,"y":1.4005286812101585},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.655183057201557,"y":0.844953588641355},"prevControl":{"x":2.0400619562578415,"y":1.9090305448557914},"nextControl":{"x":2.0400619562578415,"y":1.9090305448557914},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.093985428680525,"y":1.2225565028852028},"prevControl":{"x":3.5008187612937443,"y":1.329583211130991},"nextControl":{"x":7.268915803654393,"y":1.076447722515698},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.917099378502554,"y":3.49556142150259},"prevControl":{"x":7.63930641785334,"y":2.7316307797172565},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/3BallPath14.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.77,"y":2.83},"prevControl":null,"nextControl":{"x":7.396441068563016,"y":1.8451628171206829},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.682623744884256,"y":2.048914139094286},"prevControl":{"x":7.206133557488454,"y":2.8322279929647087},"nextControl":{"x":4.421543524541642,"y":1.4005286812101585},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.3944840151216726,"y":0.959891928264204},"prevControl":{"x":1.8506588246873192,"y":1.9178590283520638},"nextControl":{"x":1.8506588246873192,"y":1.9178590283520638},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.093985428680525,"y":1.2225565028852028},"prevControl":{"x":3.5008187612937443,"y":1.329583211130991},"nextControl":{"x":7.268915803654393,"y":1.076447722515698},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.97497291197114,"y":3.6113084884397617},"prevControl":{"x":7.801352311565382,"y":2.928400793510448},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/Exp3BallBackward.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":1.43,"y":1.36},"prevControl":null,"nextControl":{"x":2.150309024887907,"y":2.053653305812805},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.29136092658804,"y":1.7534268625426184},"prevControl":{"x":4.292818653310531,"y":1.8074021205576178},"nextControl":{"x":6.410107428822408,"y":1.692954078638059},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.97497291197114,"y":3.3913890612591358},"prevControl":{"x":7.836076431646533,"y":2.939975500204164},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":true}

src/main/deploy/pathplanner/Exp3BallForward.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.802028236487431,"y":2.890008552924608},"prevControl":null,"nextControl":{"x":7.552287959045615,"y":2.2002496914186342},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.104962652449426,"y":1.9369854440464178},"prevControl":{"x":6.739926883447311,"y":1.8916308561179989},"nextControl":{"x":5.4927433241450805,"y":1.9807153960681554},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.505786408536051,"y":2.311266823169943},"prevControl":{"x":4.230421017101865,"y":2.4239877622801793},"nextControl":{"x":2.825467589609745,"y":2.2054394513369635},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.244532102793946,"y":1.0545162065523819},"prevControl":{"x":2.541331676739075,"y":1.7024348150558695},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/ExpGoonBall.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.048996376474481,"y":4.618307970798779},"prevControl":null,"nextControl":{"x":6.458686335094902,"y":4.8266526912856875},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.6323069354999475,"y":5.798928053552309},"prevControl":{"x":6.70175517566225,"y":5.2549168389476},"nextControl":{"x":6.555737606680178,"y":6.398721129307175},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.690180468968533,"y":7.315214630429261},"prevControl":{"x":6.690180468968533,"y":6.828939174688945},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/ExpGoonBallPt2.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":6.088295720895953,"y":7.234191683578865},"prevControl":null,"nextControl":{"x":6.088295720895953,"y":6.562858695343268},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.49,"y":4.77},"prevControl":{"x":6.0964599724136175,"y":5.128815907505232},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":true}

src/main/deploy/pathplanner/ExpGoonBallPt3.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":6.493410455176055,"y":4.768779157817104},"prevControl":null,"nextControl":{"x":6.006733411247098,"y":5.212553704312104},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.46326155943451,"y":3.553434954971176},"prevControl":{"x":5.706330400002572,"y":3.7733543821518043},"nextControl":{"x":5.153200403979528,"y":3.2729034333690494},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.993273809332428,"y":2.8358031399607095},"prevControl":{"x":4.373616817105076,"y":2.818514821425589},"nextControl":{"x":3.483986714808872,"y":2.8589525533481446},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.1876195651125476,"y":3.7154808486832165},"prevControl":{"x":2.5695848860052166,"y":3.298791407709398},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/ExpTrollPath.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.86,"y":4.22},"prevControl":null,"nextControl":{"x":7.1531687367179355,"y":4.525710317249042},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.810502760246742,"y":4.2363426499061125},"prevControl":{"x":6.4008128016263175,"y":4.641457384186214},"nextControl":{"x":5.3514217113376565,"y":3.92128702810576},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.3868138369195275,"y":3.287216701021303},"prevControl":{"x":5.007766254870637,"y":3.2566780575155114},"nextControl":{"x":3.680756728602779,"y":3.321940821102454},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.4236889233272132,"y":4.190043823125621},"prevControl":{"x":1.8635277776884662,"y":3.761779675458085},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/GetTwoFourBall.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":8.299064699395222,"y":3.9122508624764087},"prevControl":null,"nextControl":{"x":7.981991717654322,"y":3.085927535905705},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.30121566572247,"y":1.909826604463336},"prevControl":{"x":6.1808933744449766,"y":1.7130565906701436},"nextControl":{"x":4.455701773424277,"y":2.0989547119510905},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.2524925809345286,"y":2.164470151725113},"prevControl":{"x":3.5668068813665283,"y":2.311150158593379},"nextControl":{"x":2.731630779717255,"y":1.921401311157053},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.284792443002607,"y":1.319516563083758},"prevControl":{"x":1.6899071772827083,"y":1.9908495513193545},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/GoonBall.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.86,"y":4.22},"prevControl":null,"nextControl":{"x":6.911289391867088,"y":4.536145823973805},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.157743961057542,"y":5.579008626371683},"prevControl":{"x":6.189846421428815,"y":4.904856958574971},"nextControl":{"x":6.12301984097639,"y":6.308215148075866},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.53970928195021,"y":7.419386990672716},"prevControl":{"x":6.5628586953376455,"y":6.956398722924028},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/GoonBallBack.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":6.03,"y":7.44},"prevControl":null,"nextControl":{"x":6.061195285977783,"y":6.785785560671288},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.204042787832411,"y":5.486410972821946},"prevControl":{"x":6.134594547670107,"y":6.25034161460728},"nextControl":{"x":6.2554872463799045,"y":4.920521928799529},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.870800551727686,"y":4.224767943206772},"prevControl":{"x":7.349938750510413,"y":4.409963250306248},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":true}

src/main/deploy/pathplanner/LeftDeStage.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.002697549699613,"y":4.548859730636477},"prevControl":null,"nextControl":{"x":6.64388164219438,"y":4.6877562109610835},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.447111628400471,"y":5.683180986615138},"prevControl":{"x":6.528025965359337,"y":5.243931728838443},"nextControl":{"x":6.36608868154445,"y":6.123019840976391},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.227192201219846,"y":7.118444616636069},"prevControl":{"x":6.377663388238169,"y":6.724904589049684},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/ReturnFourBall.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":1.27,"y":1.23},"prevControl":null,"nextControl":{"x":1.8261341929378112,"y":2.1889960234034627},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.9534887150057845,"y":1.6308956629589402},"prevControl":{"x":4.8482075313021165,"y":1.7531450686603551},"nextControl":{"x":7.303639923735543,"y":1.4815624567957995},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.032846445439727,"y":3.4608373014214378},"prevControl":{"x":7.795051827089381,"y":2.85208307844455},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":true}

src/main/deploy/pathplanner/RightDeStage.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":7.7897776048723815,"y":2.882101966741201},"prevControl":null,"nextControl":{"x":7.604582297772907,"y":2.3959642856050785},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.368512939557526,"y":1.5510106969581021},"prevControl":{"x":7.998122325358574,"y":2.048723084787939},"nextControl":{"x":8.73890355375647,"y":1.053298309128265},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":9.502834195541809,"y":0.6134594547670107},"prevControl":{"x":9.352363008523485,"y":1.0648730158219815},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}

src/main/deploy/pathplanner/ShootFirstFourBall.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":5.15,"y":1.88},"prevControl":null,"nextControl":{"x":5.891525707102046,"y":2.2007689784999815},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.048996376473765,"y":2.176044858418831},"prevControl":{"x":6.452678956693927,"y":1.555874741842775},"nextControl":{"x":7.62773171116034,"y":2.7779296064977466},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.077646698191204,"y":3.755472016509196},"prevControl":{"x":7.897417104981204,"y":3.2584597081176536},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":true}

src/main/deploy/pathplanner/ShootThreeBallFourth.path

@@ -0,0 +1 @@
+{"waypoints":[{"anchorPoint":{"x":1.69,"y":1.35},"prevControl":null,"nextControl":{"x":3.4376878880340036,"y":1.377390096552345},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.000273291685824,"y":1.7014818839764256},"prevControl":{"x":4.000273291685824,"y":1.7014818839764256},"nextControl":{"x":6.000273291685824,"y":1.7014818839764256},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.546708764303604,"y":2.2917919253560024},"prevControl":{"x":7.222616976879523,"y":1.4815624567957995},"nextControl":{"x":7.850249602103128,"y":3.050644019854812},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.26434057931407,"y":4.132170289657036},"prevControl":{"x":7.97497291197114,"y":3.1714696340785102},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":2.5,"isReversed":null}