Wpiformat

.pathplanner/settings.json

@@ -11,4 +11,4 @@
   "defaultMaxAngVel": 180.0,
   "defaultMaxAngAccel": 360.0,
   "maxModuleSpeed": 4.67
-}
+}

.styleguide

@@ -15,6 +15,7 @@ generatedFileExclude {
 
 modifiableFileExclude {
   \.png$
+  \.chrp$
 }
 
 licenseUpdateExclude {

src/main/deploy/pathplanner/autos/MAZE AUTO.auto

@@ -22,4 +22,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

src/main/deploy/pathplanner/autos/Move Backward + Apriltag.auto

@@ -34,4 +34,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -22,4 +22,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

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

@@ -22,4 +22,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

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

@@ -28,4 +28,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

src/main/deploy/pathplanner/autos/ultra amp.auto

@@ -34,4 +34,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}

src/main/deploy/pathplanner/paths/Copy of Really Short Path pt.1.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/Maze copy.path

@@ -286,4 +286,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

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

@@ -46,4 +46,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/Really Short Path pt.1.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/amp path.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/spin pt 1.path

@@ -46,4 +46,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/spin pt 2.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/ultra amp path pt.1.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

src/main/deploy/pathplanner/paths/ultra amp path pt.2.path

@@ -58,4 +58,4 @@
   "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
-}
+}

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

@@ -72,7 +72,7 @@ public static class Physical {
     public static final double SHOOTER_FLYWHEEL_CIRCUMFERENCE = 2 * Math.PI * SHOOTER_FLYWHEEL_RADIUS;
 
     public static final double ELEVATOR_GEAR_RATIO = 27;
-    
+
     public static final double SHOOTER_HEIGHT_STOWED = 0; //TODO: Get this value
 
     public static final SwerveDriveKinematics SWERVE_KINEMATICS = new SwerveDriveKinematics(
@@ -131,7 +131,7 @@ public static class FieldConstants {
     public static final AprilTagFieldLayout APRILTAG_LAYOUT = UtilFuncs.MakeField();
 
     public static final double SPEAKER_HEIGHT = .200;
-    
+
     public static final int SPEAKER_TAG_BLUE = 7;
     public static final int SPEAKER_TAG_RED = 4;
 

src/main/java/frc/robot/commands/elevator/HoldElevator.java

@@ -1,6 +1,5 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
 
 package frc.robot.commands.elevator;
 

src/main/java/frc/robot/commands/elevator/SetElevator.java

@@ -1,6 +1,5 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
 
 package frc.robot.commands.elevator;
 
@@ -16,7 +15,7 @@
 public class SetElevator extends Command {
   /**
    * Creates a new SetElevator.
-   * 
+   *
    * @param height The double supplier that returns the desired height of the elevator in meters.
    */
   private final ElevatorSubsystem _elevator;

src/main/java/frc/robot/commands/shooter/AngleShooter.java

@@ -1,6 +1,5 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
 
 package frc.robot.commands.shooter;
 
@@ -34,7 +33,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute(
-    
+
   ) {}
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/shooter/AutoAim.java

@@ -1,6 +1,5 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
 
 package frc.robot.commands.shooter;
 
@@ -11,7 +10,6 @@
 import frc.robot.subsystems.VisionSubsystem;
 
 public class AutoAim extends Command {
-
   private ShooterSubsystem _shooter;
   private VisionSubsystem _vision;
   private SwerveDriveSubsystem _swerve;

src/main/java/frc/robot/commands/shooter/HoldShooter.java

@@ -1,6 +1,5 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
 
 package frc.robot.commands.shooter;
 

src/main/java/frc/robot/subsystems/ElevatorSubsystem.java

@@ -14,7 +14,6 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class ElevatorSubsystem extends SubsystemBase {
-
   private final CANSparkMax _leftMotor = new CANSparkMax(Constants.CAN.ELEVATOR_LEFT, MotorType.kBrushless);
   private final CANSparkMax _rightMotor = new CANSparkMax(Constants.CAN.ELEVATOR_RIGHT, MotorType.kBrushless);
 
@@ -29,7 +28,6 @@ public ElevatorSubsystem() {
 
   @Override
   public void periodic() {
-
     // This method will be called once per scheduler run
     //harry chen code maybe fix
     // setMotor(elevatorFeed.calculate(0));
@@ -47,7 +45,7 @@ public boolean atDesiredHeight() {
    */
   public void setElevatorHeight(double heightMeters) {
     driveElevator(
-      _heightController.calculate(getElevatorHeight(), heightMeters) + _elevatorFeed.calculate(0) 
+      _heightController.calculate(getElevatorHeight(), heightMeters) + _elevatorFeed.calculate(0)
     );
   }
 

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -36,7 +36,7 @@ public ShooterSubsystem() {
     NeoConfig.configureFollowerNeo(_rightMotor, _leftMotor, true);
   }
 
-  @Override 
+  @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
@@ -62,12 +62,10 @@ public double getAngle() {
 
   /** Drives the angle motors at the desired percent output */
   public void driveAngle(double speed) {
-
   }
 
   /** Stops the angle motors completely, should be called with caution. */
   public void stopAngle() {
-
   }
 
   /** Get the velocity of the back wheel (left side) in m/s. */
@@ -96,4 +94,3 @@ public void stopShooter() {
     _leftMotor.set(0);
   }
 }
-

src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java

@@ -109,7 +109,7 @@ public class SwerveDriveSubsystem extends SubsystemBase {
 
   /** A boolean for whether the swerve is field oriented or not. */
   public boolean fieldOriented = false;
-  
+
   StructArrayPublisher<SwerveModuleState> publisher = NetworkTableInstance.getDefault().getStructArrayTopic("MyStates", SwerveModuleState.struct).publish();
 
   // private final SysIdRoutine _sysID = new SysIdRoutine(
@@ -175,7 +175,7 @@ public SwerveDriveSubsystem(VisionSubsystem visionSubsystem) {
           return true;
         }
         return false;
-      },        
+      },
       this
     );
   SmartDashboard.putData("Swerve Drive", new Sendable() {
@@ -206,20 +206,19 @@ public void initSendable(SendableBuilder builder) {
         builder.addDoubleProperty("Pose", () -> getHeading().getDegrees(), null);
       }
     });
-    
+
 
   }
 
   @Override
   public void periodic() {
-
     publisher.set(states);
 
     // This method will be called once per scheduler run
     // SmartDashboard.putNumber("Gyro", getHeading().getDegrees());
     SmartDashboard.putBoolean("Field Oriented", fieldOriented);
 
-    
+
 
     _frontLeft.displayInfo();
     _frontRight.displayInfo();
@@ -374,7 +373,7 @@ public Rotation2d getHeadingRaw() {
     return Rotation2d.fromDegrees(-Math.IEEEremainder(_gyro.getHeading(), 360));
   }
 
-  /** 
+  /**
    * Get the shooter's angle to the speaker hole using the drive's pose estimator.
    */
   public double shooterAngleToSpeaker() {
@@ -391,10 +390,10 @@ public double shooterAngleToSpeaker() {
     }
 
     double distnaceToRobot = Math.sqrt(Math.pow(xDifference, 2) + Math.pow(yDifference, 2));
-    
+
     double zDifference = FieldConstants.SPEAKER_HEIGHT  - Constants.Physical.SHOOTER_HEIGHT_STOWED;
 
-    double angle = Math.atan(zDifference/distnaceToRobot); 
+    double angle = Math.atan(zDifference/distnaceToRobot);
     return angle;
   }
 }

src/main/java/frc/robot/subsystems/VisionSubsystem.java

@@ -57,9 +57,9 @@ public Optional<Pose2d> get_botpose() {
       Rotation2d botposeRotation = new Rotation2d(botposeYaw);
 
       Pose2d botPose2D = new Pose2d(botposeX, botposeY, botposeRotation);
-    
+
       return Optional.of(botPose2D);
-    } 
+    }
   }
 
   public boolean isApriltagVisible() {

src/main/java/frc/robot/utils/LimelightHelper.java

@@ -1,3 +1,6 @@
+/*                                  Team 334                                  */
+/* Copyright (c) 2024 Team 334. All Rights Reserved.                          */
+
 package frc.robot.utils;
 
 /**

src/main/java/frc/robot/utils/SwerveModule.java

@@ -62,7 +62,7 @@ public SwerveModule(
     // encoderConfig.MagnetOffset = (angleOffset / 180) / 2;
 
     _encoder = new CANcoder(encoderId);
-    
+
     // _encoder.getConfigurator().apply(encoderConfig);
 
     _name = name;
@@ -90,7 +90,7 @@ public void displayInfo() {
 
   /**
    * Get the talons belonging to this module as an array.
-   * 
+   *
    * @return [drive talon, rotation talon]
    */
   public TalonFX[] getTalons() {

src/main/java/frc/robot/utils/UtilFuncs.java

@@ -32,7 +32,7 @@ public static double ApplyDeadband(double val, double deadband) {
   /**
    * Control a motor controller with voltage by converting a voltage output into
    * percent output with a scale factor.
-   * 
+   *
    * @param volts The voltage output.
    * @return The percent output to set the controller to.
    */
@@ -50,8 +50,8 @@ public static DriverStation.Alliance getCurrentAlliance() {
   }
 
   /**
-   * 
-   * 
+   *
+   *
    * @return
    */
   public static AprilTagFieldLayout MakeField() {

vendordeps/PathplannerLib.json

@@ -35,4 +35,4 @@
             ]
         }
     ]
-}
+}