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Code Review #1

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11d855b
(mostly) finished subsystems
Toomy422 Jun 30, 2025
e9562fc
added sims
Toomy422 Jul 1, 2025
b1a3d2c
Added controls
Toomy422 Jul 3, 2025
770571c
Controls pt. 2
Toomy422 Jul 3, 2025
b527fa1
night 1 fixing
Toomy422 Jul 22, 2025
cd79b2d
night 2
Toomy422 Jul 23, 2025
93e5d16
auto align and such
Toomy422 Jul 25, 2025
0e22ad5
made autoaligns toggle
Toomy422 Aug 6, 2025
dcdd179
kenty calls
Toomy422 Aug 6, 2025
daba3e2
Sim mostly works
Toomy422 Aug 7, 2025
1b308fe
Sim works
Toomy422 Aug 8, 2025
f356523
RPS
Toomy422 Aug 8, 2025
4039ff5
Major changes
Toomy422 Aug 12, 2025
5ebbc35
Drive (mostly) works
Toomy422 Aug 15, 2025
882b221
Reset field centric
Toomy422 Sep 5, 2025
32e994c
Reset field centric
Toomy422 Sep 5, 2025
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14 changes: 7 additions & 7 deletions src/main/java/frc/robot/BuildConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,13 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "spike-rewrite";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = -1;
public static final String GIT_SHA = "UNKNOWN";
public static final String GIT_DATE = "UNKNOWN";
public static final String GIT_BRANCH = "UNKNOWN";
public static final String BUILD_DATE = "2025-06-04 21:53:16 EDT";
public static final long BUILD_UNIX_TIME = 1749088396225L;
public static final int DIRTY = 129;
public static final int GIT_REVISION = 7;
public static final String GIT_SHA = "b527fa151ac13544d5551783631fc9ac3a2f42ba";
public static final String GIT_DATE = "2025-07-21 22:23:17 EDT";
public static final String GIT_BRANCH = "main";
public static final String BUILD_DATE = "2025-07-23 11:39:41 EDT";
public static final long BUILD_UNIX_TIME = 1753285181494L;
public static final int DIRTY = 1;

private BuildConstants() {}
}
271 changes: 149 additions & 122 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,14 @@
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Pounds;

import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.measure.Mass;
import edu.wpi.first.units.measure.MomentOfInertia;
Expand Down Expand Up @@ -148,6 +151,103 @@ public static final class DriveConstants {
public static final MomentOfInertia kRobotMOI = KilogramSquareMeters.of(6.5);
}

public static final class ShooterConstants {
public static final LoggedTunableNumber kIdleVoltage =
new LoggedTunableNumber("Shooter/idleVoltage", 0.0);
public static final LoggedTunableNumber kTopRPS =
new LoggedTunableNumber("Shooter/topRPS", 0.0);
public static final LoggedTunableNumber kBottomRPS =
new LoggedTunableNumber("Shooter/bottomRPS", 0.0);
public static final LoggedTunableNumber kRejectingVoltage =
new LoggedTunableNumber("Shooter/rejectingVoltage", 0.0);
public static final LoggedTunableNumber kTopAmpVelocity =
new LoggedTunableNumber("Shooter/topAmpVelocity", 0);
public static final LoggedTunableNumber kBottomAmpVelocity =
new LoggedTunableNumber("Shooter/bottomAmpVelocity", 0);

public static final LoggedTunableNumber kTopShooterP =
new LoggedTunableNumber("Shooter/TopP", 0.0);
public static final LoggedTunableNumber kTopShooterI =
new LoggedTunableNumber("Shooter/TopI", 0.0);
public static final LoggedTunableNumber kTopShooterD =
new LoggedTunableNumber("Shooter/TopD", 0.0);
public static final LoggedTunableNumber kBottomShooterP =
new LoggedTunableNumber("Shooter/BottomP", 0.0);
public static final LoggedTunableNumber kBottomShooterI =
new LoggedTunableNumber("Shooter/BottomI", 0.0);
public static final LoggedTunableNumber kBottomShooterD =
new LoggedTunableNumber("Shooter/BottomD", 0.0);

public static final LoggedTunableNumber kTopKs = new LoggedTunableNumber("Shooter/TopKs", 0.0);
public static final LoggedTunableNumber kTopKv = new LoggedTunableNumber("Shooter/TopKv", 0.0);
public static final LoggedTunableNumber kBottomKs =
new LoggedTunableNumber("Shooter/BottomKs", 0.0);
public static final LoggedTunableNumber kBottomKv =
new LoggedTunableNumber("Shooter/BottomKv", 0.0);

// sim
public static final DCMotor kTopDCMotor = DCMotor.getNEO(1);
public static final DCMotor kBottomDCMotor = DCMotor.getNEO(1);
public static final double kSimMOI = 0.0;
public static final double kSimGearing = 0.0;

public static final LoggedTunableNumber kSimTopShooterP =
new LoggedTunableNumber("Shooter/SimTopP", 0.0);
public static final LoggedTunableNumber kSimTopShooterI =
new LoggedTunableNumber("Shooter/SimTopI", 0.0);
public static final LoggedTunableNumber kSimTopShooterD =
new LoggedTunableNumber("Shooter/SimTopD", 0.0);
public static final LoggedTunableNumber kSimBottomShooterP =
new LoggedTunableNumber("Shooter/SimBottomP", 0.0);
public static final LoggedTunableNumber kSimBottomShooterI =
new LoggedTunableNumber("Shooter/SimBottomI", 0.0);
public static final LoggedTunableNumber kSimBottomShooterD =
new LoggedTunableNumber("Shooter/SimBottomD", 0.0);

public static final LoggedTunableNumber kSimTopKs =
new LoggedTunableNumber("Shooter/SimTopKs", 0.0);
public static final LoggedTunableNumber kSimTopKv =
new LoggedTunableNumber("Shooter/SimTopKv", 0.0);
public static final LoggedTunableNumber kSimBottomKs =
new LoggedTunableNumber("Shooter/SimBottomKs", 0.0);
public static final LoggedTunableNumber kSimBottomKv =
new LoggedTunableNumber("Shooter/SimBottomKv", 0.0);
}

public static final class IndexerConstants {
public static final LoggedTunableNumber kIdleVoltage =
new LoggedTunableNumber("Indexer/idleVoltage", 0.0);
public static final LoggedTunableNumber kIntakingVoltage =
new LoggedTunableNumber("Indexer/intakingVoltage", 0.0);
public static final LoggedTunableNumber kIndexingVoltage =
new LoggedTunableNumber("Indexer/indexingVoltage", 0.0);
public static final LoggedTunableNumber kReversingVoltage =
new LoggedTunableNumber("Indexer/reversingVoltage", 0.0);
public static final LoggedTunableNumber kShootingVoltage =
new LoggedTunableNumber("Indexer/shootingVoltage", 0.0);
public static final LoggedTunableNumber kVomitVoltage =
new LoggedTunableNumber("Indexer/vomitVoltage", 0.0);

// sim
public static final DCMotor kDCMotor = DCMotor.getNEO(1);
public static final double kSimMOI = 0.0;
public static final double kSimGearing = 0.0;
}

public static final class IntakeConstants {
public static final LoggedTunableNumber kIdleVoltage =
new LoggedTunableNumber("Intake/idleVoltage", 0.0);
public static final LoggedTunableNumber kIntakingVoltage =
new LoggedTunableNumber("Intake/intakingVoltage", 0.0);
public static final LoggedTunableNumber kVomitVoltage =
new LoggedTunableNumber("Intake/vomitVoltage", 0.0);

// sim
public static final DCMotor kDCMotor = DCMotor.getNEO(1);
public static final double kSimMOI = 0.0;
public static final double kSimGearing = 0.0;
}

public static final class Ports {
public static final int kFrontLeftDrive = 0;
public static final int kFrontLeftTurn = 1;
Expand All @@ -165,6 +265,15 @@ public static final class Ports {
public static final int kBackRightTurn = 10;
public static final int kBackRightCancoder = 11;

public static final int kIndexer = 0;
public static final int kPhotoelectric1 = 0;
public static final int kPhotoelectric2 = 0;

public static final int kIntake = 0;

public static final int kTopShooter = 0;
public static final int kBottomShooter = 0;

public static final int kPigeon = 22;

public static final String kDriveCanivoreName = "Drivetrain";
Expand All @@ -181,129 +290,47 @@ public static final class CurrentLimitConstants {
public static final double kTurnDefaultStatorCurrentLimit = 120.0;
}

public class FieldConstants {
public static final class FieldConstants {
// copied from frc-24 with some minor tweaks

public static final Translation2d kSource = new Translation2d(15.696, 0.701);

public static final Translation3d kTopRightSpeaker =
new Translation3d(
Units.inchesToMeters(0.0), Units.inchesToMeters(238.815), Units.inchesToMeters(83.091));

public static final Translation3d kTopLeftSpeaker =
new Translation3d(
Units.inchesToMeters(18.055),
Units.inchesToMeters(197.765),
Units.inchesToMeters(83.091));

public static final Translation3d kBottomRightSpeaker =
new Translation3d(0.0, Units.inchesToMeters(238.815), Units.inchesToMeters(78.324));
public static final Translation3d kBottomLeftSpeaker =
new Translation3d(0.0, Units.inchesToMeters(197.765), Units.inchesToMeters(78.324));

/** Center of the speaker opening (blue alliance) */
public static final Translation3d kCenterSpeakerOpening =
kBottomLeftSpeaker.interpolate(kTopRightSpeaker, 0.5);

public static final double kFieldLength = Units.inchesToMeters(651.223);
public static final double kFieldWidth = Units.inchesToMeters(323.277);
public static final double wingX = Units.inchesToMeters(229.201);
public static final double podiumX = Units.inchesToMeters(126.75);
public static final double startingLineX = Units.inchesToMeters(74.111);

public static final Translation2d ampCenter =
new Translation2d(Units.inchesToMeters(72.455), kFieldWidth);

/** Staging locations for each note */
public static final class StagingLocations {
public static final double centerlineX = kFieldLength / 2.0;

// need to update
public static final double centerlineFirstY = Units.inchesToMeters(29.638);
public static final double centerlineSeparationY = Units.inchesToMeters(66);
public static final double spikeX = Units.inchesToMeters(114);
// need
public static final double spikeFirstY = Units.inchesToMeters(161.638);
public static final double spikeSeparationY = Units.inchesToMeters(57);

public static final Translation2d[] centerlineTranslations = new Translation2d[5];
public static final Translation2d[] spikeTranslations = new Translation2d[3];

static {
for (int i = 0; i < centerlineTranslations.length; i++) {
centerlineTranslations[i] =
new Translation2d(centerlineX, centerlineFirstY + (i * centerlineSeparationY));
}
}

static {
for (int i = 0; i < spikeTranslations.length; i++) {
spikeTranslations[i] = new Translation2d(spikeX, spikeFirstY + (i * spikeSeparationY));
}
}
}

/** Each corner of the speaker * */
public static final class Speaker {

// corners (blue alliance origin)
public static final Translation3d topRightSpeaker =
new Translation3d(
Units.inchesToMeters(18.055),
Units.inchesToMeters(238.815),
Units.inchesToMeters(83.091));

public static final Translation3d topLeftSpeaker =
new Translation3d(
Units.inchesToMeters(18.055),
Units.inchesToMeters(197.765),
Units.inchesToMeters(83.091));

public static final Translation3d bottomRightSpeaker =
new Translation3d(0.0, Units.inchesToMeters(238.815), Units.inchesToMeters(78.324));
public static final Translation3d bottomLeftSpeaker =
new Translation3d(0.0, Units.inchesToMeters(197.765), Units.inchesToMeters(78.324));

/** Center of the speaker opening (blue alliance) */
public static final Translation3d centerSpeakerOpening =
bottomLeftSpeaker.interpolate(topRightSpeaker, 0.5);
}

public static final class Subwoofer {
public static final Pose2d ampFaceCorner =
new Pose2d(
Units.inchesToMeters(35.775),
Units.inchesToMeters(239.366),
Rotation2d.fromDegrees(-120));

public static final Pose2d sourceFaceCorner =
new Pose2d(
Units.inchesToMeters(35.775),
Units.inchesToMeters(197.466),
Rotation2d.fromDegrees(120));

public static final Pose2d centerFace =
new Pose2d(
Units.inchesToMeters(35.775),
Units.inchesToMeters(218.416),
Rotation2d.fromDegrees(180));
}

public static final class Stage {
public static final Pose2d podiumLeg =
new Pose2d(Units.inchesToMeters(126.75), Units.inchesToMeters(161.638), new Rotation2d());
public static final Pose2d ampLeg =
new Pose2d(
Units.inchesToMeters(220.873),
Units.inchesToMeters(212.425),
Rotation2d.fromDegrees(-30));
public static final Pose2d sourceLeg =
new Pose2d(
Units.inchesToMeters(220.873),
Units.inchesToMeters(110.837),
Rotation2d.fromDegrees(30));

public static final Pose2d centerPodiumAmpChain =
new Pose2d(
podiumLeg.getTranslation().interpolate(ampLeg.getTranslation(), 0.5),
Rotation2d.fromDegrees(120.0));
public static final Pose2d centerAmpSourceChain =
new Pose2d(
ampLeg.getTranslation().interpolate(sourceLeg.getTranslation(), 0.5),
new Rotation2d());
public static final Pose2d centerSourcePodiumChain =
new Pose2d(
sourceLeg.getTranslation().interpolate(podiumLeg.getTranslation(), 0.5),
Rotation2d.fromDegrees(240.0));
public static final Pose2d center =
new Pose2d(Units.inchesToMeters(192.55), Units.inchesToMeters(161.638), new Rotation2d());
public static final double centerToChainDistance =
center.getTranslation().getDistance(centerPodiumAmpChain.getTranslation());
}

public static final class Amp {
public static final Translation2d ampTapeTopCorner =
new Translation2d(Units.inchesToMeters(130.0), Units.inchesToMeters(305.256));
public static final double ampBottomY = kFieldWidth - Units.inchesToMeters(17.75);
}

public static final double aprilTagWidth = Units.inchesToMeters(6.50);
public static final double kWingX = Units.inchesToMeters(229.201);
public static final double kPodiumX = Units.inchesToMeters(126.75);
public static final double kStartingLineX = Units.inchesToMeters(74.111);

public static final double kAprilTagWidth = Units.inchesToMeters(6.5);
public static final AprilTagFieldLayout kAprilTagLayout =
AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();

public static final Pose2d kAmpBlue = new Pose2d(1.749, 7.82, Rotation2d.fromDegrees(90));
public static final Pose2d kDailedShot = new Pose2d(2.95, 4.08, new Rotation2d(145.00));
public static final Translation2d kCorner = new Translation2d(0, 7.82);
public static final Translation2d kFeederAim = new Translation2d(1, 6.82);
public static final Translation2d kSourceMidShot = new Translation2d(8.04, kFieldWidth - 2);

// halfway between midline and wing
public static final Translation2d kFeedingSetpoint = new Translation2d(7.137, 0.872);
}
}
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