Merge branch 'main' of github.com:StuyPulse/PulseCrewPrep

StuyPulse · Mar 21, 2024 · f8eb462 · f8eb462
2 parents 467a2a7 + cc7d264
commit f8eb462
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Showing 5 changed files with 287 additions and 676 deletions.
diff --git a/build.gradle b/build.gradle
@@ -12,7 +12,7 @@ allprojects {
 
 // Set this to the latest version of StuyLib.
 // You can check here: https://github.com/StuyPulse/StuyLib/releases.
-final String STUYLIB_VERSION = 'v2024.1.5'
+// final String STUYLIB_VERSION = 'v2024.1.5'
 
 def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"
 
@@ -78,7 +78,7 @@ dependencies {
 
     testImplementation 'junit:junit:4.13.1'
 
-    implementation "com.github.StuyPulse:StuyLib:${STUYLIB_VERSION}";
+    // implementation "com.github.StuyPulse:StuyLib:${STUYLIB_VERSION}";
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -97,13 +97,13 @@ spotless {
         endWithNewline()
 
         importOrder(
-            'com.stuypulse.stuylib', 
-            'com.stuypulse.constants', 
-            'com.stuypulse.subsystems', 
-            'com.stuypulse.commands', 
-            'com.stuypulse.commands.auton', 
-            'com.stuypulse.util', 
-            'com.stuypulse', 
+            // 'com.stuypulse.stuylib', 
+            // 'com.stuypulse.constants', 
+            // 'com.stuypulse.subsystems', 
+            // 'com.stuypulse.commands', 
+            // 'com.stuypulse.commands.auton', 
+            // 'com.stuypulse.util', 
+            // 'com.stuypulse', 
             'edu.wpi', 
             'com.revrobotics'
         )

diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -7,8 +7,6 @@
 
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.constants.Ports;
-import com.stuypulse.stuylib.input.Gamepad;
-import com.stuypulse.stuylib.input.gamepads.AutoGamepad;
 
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -17,8 +15,9 @@
 public class RobotContainer {
 
     // Gamepads
-    public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
-    public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
+    // public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
+    // public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
+    // replace these with non stuylib controllers
 
     // Subsystem
 

diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -5,9 +5,6 @@
 
 package com.stuypulse.robot.constants;
 
-import com.stuypulse.stuylib.network.SmartBoolean;
-import com.stuypulse.stuylib.network.SmartNumber;
-
 import edu.wpi.first.math.util.Units;
 
 /*-
@@ -18,28 +15,30 @@
  */
 public interface Settings {
 
-     SmartBoolean DEBUG_MODE = new SmartBoolean("Debug Mode", true);
-
+     Boolean DEBUG_MODE = true;
 
     public interface TankDrive {
         // If speed is below this, use quick turn
-        SmartNumber BASE_TURNING_SPEED = new SmartNumber("Driver Settings/Base Turn Speed", 0.45);
+
+        double BASE_TURNING_SPEED =  0.45;
 
         // Low Pass Filter and deadband for Driver Controls
-        SmartNumber SPEED_DEADBAND = new SmartNumber("Driver Settings/Speed Deadband", 0.00);
-        SmartNumber ANGLE_DEADBAND = new SmartNumber("Driver Settings/Turn Deadband", 0.00);
+       double SPEED_DEADBAND = 0.00;
+       double ANGLE_DEADBAND = 0.00;
+
+        double SPEED_POWER = 2.0;
+        double ANGLE_POWER =  1.0;
 
-        SmartNumber SPEED_POWER = new SmartNumber("Driver Settings/Speed Power", 2.0);
-        SmartNumber ANGLE_POWER = new SmartNumber("Driver Settings/Turn Power", 1.0);
+       double SPEED_FILTER = 0.125;
+       double ANGLE_FILTER = 0.005;
 
-        SmartNumber SPEED_FILTER = new SmartNumber("DriPver Settings/Speed Filtering", 0.125);
-        SmartNumber ANGLE_FILTER = new SmartNumber("Driver Settings/Turn Filtering", 0.005);
+
+        boolean USING_GYRO = true;
 
         // Width of the robot
         // update
         double TRACK_WIDTH = Units.inchesToMeters(26.9);
 
-        boolean USING_GYRO = true;
     }
 
 }