Test Autos (#30)

* Begin testing autos

* Rework logging using Monologue

* Created Preliminary Auto Paths

* Add Yoinker auto

* Auto paths

* Add back C2sC1.traj

* Tune teleop PID

.pathplanner/settings.json

@@ -1,12 +1,12 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.8636,
+  "robotLength": 0.8636,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
-  "maxModuleSpeed": 4.5
+  "maxModuleSpeed": 5.55
 }

build.gradle

@@ -3,6 +3,10 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "2024.1.1"
 }
 
+repositories {
+    maven { url 'https://jitpack.io' }
+}
+
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
@@ -67,6 +71,7 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
+    implementation 'com.github.shueja:Monologue:v1.0.0-beta4'
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -88,5 +93,11 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000004c050000e60c000000000000",
+      "useGamepad": true
+    }
   ]
 }

simgui.json

@@ -1,7 +1,28 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Monologue": {
+        "open": true,
+        "subDrivetrain": {
+          "open": true
+        }
+      },
+      "SmartDashboard": {
+        "open": true
+      }
     }
   },
   "NetworkTables Info": {