init commit

src/main/java/team3647/frc2023/auto/AutoCommands.java → src/main/java/team3647/frc2024/auto/AutoCommands.java

@@ -1,4 +1,4 @@
-package team3647.frc2023.auto;
+package team3647.frc2024.auto;
 
 import com.choreo.lib.Choreo;
 import com.choreo.lib.ChoreoControlFunction;
@@ -15,11 +15,11 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
-import team3647.frc2023.constants.AutoConstants;
-import team3647.frc2023.constants.FieldConstants;
-import team3647.frc2023.subsystems.Superstructure;
-import team3647.frc2023.subsystems.SwerveDrive;
-import team3647.frc2023.util.TargetingUtil;
+import team3647.frc2024.constants.AutoConstants;
+import team3647.frc2024.constants.FieldConstants;
+import team3647.frc2024.subsystems.Superstructure;
+import team3647.frc2024.subsystems.SwerveDrive;
+import team3647.frc2024.util.TargetingUtil;
 
 public class AutoCommands {
     private final SwerveDrive swerve;
@@ -115,8 +115,12 @@ public Command spinUp() {
         return Commands.parallel(superstructure.spinUp(), superstructure.feed());
     }
 
-    public double getPivotAngleByPose(Pose2d pose) {
-        return targeting.getPivotAngleByPose(pose) * 180 / Math.PI;
+    public double getPivotAngleByPose(Supplier<Pose2d> pose) {
+        return targeting.getPivotAngleByPose(pose.get()) * 180 / Math.PI;
+    }
+
+    public double getPivotAngle() {
+        return targeting.getPivotAngle(FieldConstants.kBlueSpeaker) * 180 / Math.PI;
     }
 
     public Command target() {
@@ -153,7 +157,7 @@ public Command pathAndShootWithOverride(String path, Alliance color) {
     public Command followChoreoPathWithOverrideAndPivot(String path, Alliance color) {
         return Commands.deadline(
                 followChoreoPathWithOverride(path, color),
-                superstructure.pivotCommands.setAngle(() -> getPivotAngleByPose(getFinal(path))));
+                superstructure.pivotCommands.setAngle(() -> getPivotAngle()));
     }
 
     public Command followChoreoPathWithOverride(String path, Alliance color) {

src/main/java/team3647/frc2023/auto/AutonomousMode.java → src/main/java/team3647/frc2024/auto/AutonomousMode.java

@@ -1,4 +1,4 @@
-package team3647.frc2023.auto;
+package team3647.frc2024.auto;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.Command;

src/main/java/team3647/frc2023/auto/Repathing.java → src/main/java/team3647/frc2024/auto/Repathing.java

@@ -1,7 +1,7 @@
-package team3647.frc2023.auto;
+package team3647.frc2024.auto;
 
 import edu.wpi.first.math.geometry.Pose2d;
-import team3647.frc2023.constants.FieldConstants;
+import team3647.frc2024.constants.FieldConstants;
 
 public class Repathing {
 

src/main/java/team3647/frc2023/commands/DrivetrainCommands.java → src/main/java/team3647/frc2024/commands/DrivetrainCommands.java

@@ -1,4 +1,4 @@
-package team3647.frc2023.commands;
+package team3647.frc2024.commands;
 
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -12,9 +12,9 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
-import team3647.frc2023.constants.FieldConstants;
-import team3647.frc2023.subsystems.SwerveDrive;
-import team3647.frc2023.util.AutoDrive.DriveMode;
+import team3647.frc2024.constants.FieldConstants;
+import team3647.frc2024.subsystems.SwerveDrive;
+import team3647.frc2024.util.AutoDrive.DriveMode;
 import team3647.lib.LinearRegression;
 
 public class DrivetrainCommands {
@@ -49,7 +49,7 @@ public Command driveVisionTeleop(
 
                     // var translation = new Translation2d(motionXComponent, motionYComponent);
 
-                    if (mode == DriveMode.SHOOT_ON_THE_MOVE && enabeld) {
+                    if (mode != DriveMode.NONE && enabeld) {
                         motionTurnComponent = autoDriveTwist2d.dtheta;
                     }
 

src/main/java/team3647/frc2023/commands/IntakeCommands.java → src/main/java/team3647/frc2024/commands/IntakeCommands.java

@@ -1,10 +1,10 @@
-package team3647.frc2023.commands;
+package team3647.frc2024.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import java.util.Set;
-import team3647.frc2023.subsystems.Intake;
+import team3647.frc2024.subsystems.Intake;
 
 public class IntakeCommands {
 

src/main/java/team3647/frc2023/commands/KickerCommands.java → src/main/java/team3647/frc2024/commands/KickerCommands.java

@@ -1,17 +1,21 @@
-package team3647.frc2023.commands;
+package team3647.frc2024.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import java.util.Set;
-import team3647.frc2023.subsystems.Kicker;
+import team3647.frc2024.subsystems.Kicker;
 
 public class KickerCommands {
 
     public Command kick() {
         return Commands.run(() -> kicker.openLoop(0.5), kicker);
     }
 
+    public Command slowFeed() {
+        return Commands.run(() -> kicker.openLoop(0.1), kicker);
+    }
+
     public Command unkick() {
         return Commands.run(() -> kicker.openLoop(-0.1), kicker);
     }

src/main/java/team3647/frc2023/commands/PivotCommands.java → src/main/java/team3647/frc2024/commands/PivotCommands.java

@@ -1,13 +1,13 @@
-package team3647.frc2023.commands;
+package team3647.frc2024.commands;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import java.util.Set;
 import java.util.function.DoubleSupplier;
-import team3647.frc2023.constants.PivotConstants;
-import team3647.frc2023.subsystems.Pivot;
+import team3647.frc2024.constants.PivotConstants;
+import team3647.frc2024.subsystems.Pivot;
 
 public class PivotCommands {