Spectrum3847 · Daniel-J101 · Apr 21, 2024 · Apr 17, 2024 · Apr 17, 2024 · Apr 17, 2024
diff --git a/elastic-layout.json b/elastic-layout.json
diff --git a/...ploy/pathplanner/autos/Front Special.auto → ...in/deploy/pathplanner/autos/Front 43.auto b/...ploy/pathplanner/autos/Front Special.auto → ...in/deploy/pathplanner/autos/Front 43.auto
@@ -14,13 +14,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Path 1 - Front Special"
+            "pathName": "Path 1 - Front 43"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Path 2 - Front Special"
+            "pathName": "Path 2 - Front 43"
           }
         },
         {

diff --git a/.../deploy/pathplanner/autos/Front Rush.auto → ...ploy/pathplanner/autos/Front Rush 12.auto b/.../deploy/pathplanner/autos/Front Rush.auto → ...ploy/pathplanner/autos/Front Rush 12.auto
@@ -14,13 +14,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Path 1 - Front Rush"
+            "pathName": "Path 1 - Front Rush 12"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Path 2 - Front Rush"
+            "pathName": "Path 2 - Front Rush 12"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/Front Rush 13.auto b/src/main/deploy/pathplanner/autos/Front Rush 13.auto
@@ -14,13 +14,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Path 1 - Front Rush"
+            "pathName": "Path 1 - Front Rush 12"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Path 2 - Front Rush Alt"
+            "pathName": "Path 2 - Front Rush 23"
           }
         },
         {

diff --git a/...loy/pathplanner/autos/Front Rush Alt.auto → ...ploy/pathplanner/autos/Front Rush 23.auto b/...loy/pathplanner/autos/Front Rush Alt.auto → ...ploy/pathplanner/autos/Front Rush 23.auto
@@ -14,13 +14,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Path 1 - Front Rush Alt"
+            "pathName": "Path 1 - Front Rush 23"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Path 2 - Front Rush Alt"
+            "pathName": "Path 2 - Front Rush 23"
           }
         },
         {

diff --git a/...planner/paths/Path 1 - Front Special.path → .../pathplanner/paths/Path 1 - Front 43.path b/...planner/paths/Path 1 - Front Special.path → .../pathplanner/paths/Path 1 - Front 43.path
@@ -33,15 +33,15 @@
     {
       "anchor": {
         "x": 7.98,
-        "y": 2.47
+        "y": 2.5
       },
       "prevControl": {
         "x": 7.0403073792140916,
-        "y": 2.8120201433256695
+        "y": 2.8420201433256693
       },
       "nextControl": {
         "x": 8.40286167935366,
-        "y": 2.316090935503449
+        "y": 2.3460909355034487
       },
       "isLocked": false,
       "linkedName": null
@@ -94,13 +94,13 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 2.0,
-      "rotationDegrees": 150.0,
+      "waypointRelativePos": 1.1500000000000001,
+      "rotationDegrees": 180.0,
       "rotateFast": false
     },
     {
-      "waypointRelativePos": 1.0,
-      "rotationDegrees": 180.0,
+      "waypointRelativePos": 2.0,
+      "rotationDegrees": 150.0,
       "rotateFast": false
     },
     {
@@ -324,7 +324,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 170.0,
+    "rotation": 171.0,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/...athplanner/paths/Path 1 - Front Rush.path → ...planner/paths/Path 1 - Front Rush 12.path b/...athplanner/paths/Path 1 - Front Rush.path → ...planner/paths/Path 1 - Front Rush 12.path
@@ -33,15 +33,15 @@
     {
       "anchor": {
         "x": 7.88,
-        "y": 7.2
+        "y": 7.3
       },
       "prevControl": {
         "x": 6.11312527048199,
-        "y": 6.413336687071822
+        "y": 6.5133366870718215
       },
       "nextControl": {
         "x": 8.793545457642605,
-        "y": 7.606736643075799
+        "y": 7.706736643075799
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Path 1 - Front Rush 23 Spit.path b/src/main/deploy/pathplanner/paths/Path 1 - Front Rush 23 Spit.path
@@ -48,16 +48,16 @@
     },
     {
       "anchor": {
-        "x": 7.8,
-        "y": 4.42
+        "x": 7.97,
+        "y": 4.4
       },
       "prevControl": {
-        "x": 7.867652539411058,
-        "y": 4.738280173895938
+        "x": 8.107516069903477,
+        "y": 4.694904163589285
       },
       "nextControl": {
-        "x": 7.59208830918224,
-        "y": 3.4418523992661934
+        "x": 7.5473817382593,
+        "y": 3.4936922129633494
       },
       "isLocked": false,
       "linkedName": null
@@ -68,8 +68,8 @@
         "y": 5.55
       },
       "prevControl": {
-        "x": 4.028622492154736,
-        "y": 4.5190633199768495
+        "x": 4.010443041047346,
+        "y": 4.497777917535599
       },
       "nextControl": null,
       "isLocked": false,
@@ -84,12 +84,12 @@
     },
     {
       "waypointRelativePos": 2.0,
-      "rotationDegrees": 135.0,
+      "rotationDegrees": 130.0,
       "rotateFast": false
     },
     {
       "waypointRelativePos": 2.9,
-      "rotationDegrees": 135.0,
+      "rotationDegrees": 115.0,
       "rotateFast": false
     }
   ],

diff --git a/...lanner/paths/Path 1 - Front Rush Alt.path → ...planner/paths/Path 1 - Front Rush 23.path b/...lanner/paths/Path 1 - Front Rush Alt.path → ...planner/paths/Path 1 - Front Rush 23.path
@@ -33,15 +33,15 @@
     {
       "anchor": {
         "x": 7.92,
-        "y": 5.75
+        "y": 5.82
       },
       "prevControl": {
         "x": 6.772847127297909,
-        "y": 7.388304088577982
+        "y": 7.458304088577982
       },
       "nextControl": {
         "x": 8.493576436351045,
-        "y": 4.93084795571101
+        "y": 5.00084795571101
       },
       "isLocked": false,
       "linkedName": null

diff --git a/...planner/paths/Path 2 - Front Special.path → .../pathplanner/paths/Path 2 - Front 43.path b/...planner/paths/Path 2 - Front Special.path → .../pathplanner/paths/Path 2 - Front 43.path
@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.465477382580045,
-        "y": 4.089414403070517
+        "x": 4.065702763046164,
+        "y": 4.23837451600708
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 4.85,
-        "y": 3.8
+        "y": 3.75
       },
       "prevControl": {
         "x": 4.578463926583921,
-        "y": 4.004617107871699
+        "y": 3.954617107871699
       },
       "nextControl": {
         "x": 6.034724121725668,
-        "y": 2.907246339819146
+        "y": 2.857246339819146
       },
       "isLocked": false,
       "linkedName": null

diff --git a/...athplanner/paths/Path 2 - Front Rush.path → ...planner/paths/Path 2 - Front Rush 12.path b/...athplanner/paths/Path 2 - Front Rush.path → ...planner/paths/Path 2 - Front Rush 12.path
@@ -17,15 +17,15 @@
     {
       "anchor": {
         "x": 8.0,
-        "y": 5.7
+        "y": 5.75
       },
       "prevControl": {
         "x": 7.049456015029355,
-        "y": 5.990610460281506
+        "y": 6.040610460281505
       },
       "nextControl": {
         "x": 8.669413329174128,
-        "y": 5.4953398066940835
+        "y": 5.545339806694083
       },
       "isLocked": false,
       "linkedName": null
@@ -113,7 +113,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": -178.0,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Path 2 - Front Rush 23 Spit.path b/src/main/deploy/pathplanner/paths/Path 2 - Front Rush 23 Spit.path
@@ -65,15 +65,15 @@
     {
       "anchor": {
         "x": 6.86222408927512,
-        "y": 6.1548053498352076
+        "y": 6.1
       },
       "prevControl": {
         "x": 6.343882472610596,
-        "y": 6.69635629261904
+        "y": 6.641550942783832
       },
       "nextControl": {
         "x": 7.484535325632098,
-        "y": 5.504629431253289
+        "y": 5.449824081418081
       },
       "isLocked": false,
       "linkedName": null
@@ -105,7 +105,7 @@
     },
     {
       "waypointRelativePos": 4.0,
-      "rotationDegrees": 150.0,
+      "rotationDegrees": 160.0,
       "rotateFast": false
     }
   ],

diff --git a/...lanner/paths/Path 2 - Front Rush Alt.path → ...planner/paths/Path 2 - Front Rush 23.path b/...lanner/paths/Path 2 - Front Rush Alt.path → ...planner/paths/Path 2 - Front Rush 23.path
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -271,6 +271,9 @@ public void teleopInit() {
                                     ? 0
                                     : 180));
 
+            // if(DriverStation.isFMSAttached()) {
+            //     ClimberCommands.safeClimb().withTimeout(2).schedule();
+            // }
             RobotTelemetry.print("!!! Teleop Init Complete !!! ");
         } catch (Throwable t) {
             // intercept error and log it

diff --git a/src/main/java/frc/robot/RobotCommands.java b/src/main/java/frc/robot/RobotCommands.java
@@ -443,7 +443,10 @@ public static Command autoClimb() {
 
     public static Command manualSource() {
         return LauncherCommands.manualSource()
-                .alongWith(FeederCommands.manualSource(), PivotCommands.subwoofer())
+                .alongWith(
+                        FeederCommands.manualSource(),
+                        PivotCommands.subwoofer(),
+                        LEDsCommands.manualSourceStrobe())
                 .withName("RobotCommands.manualSource");
     }
 

diff --git a/src/main/java/frc/robot/auton/Auton.java b/src/main/java/frc/robot/auton/Auton.java
@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 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.PrintCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Robot;
@@ -41,13 +42,13 @@ public static void setupSelectors() {
         autonChooser.addOption(
                 "Front Alt 6 Auto", new PathPlannerAuto("Front Alt 6")); // Runs full Auto
 
-        autonChooser.addOption(
-                "Front Special", new PathPlannerAuto("Front Special")); // Runs full Auto
+        autonChooser.addOption("Front 43", new PathPlannerAuto("Front 43")); // Runs full Auto
 
-        autonChooser.addOption("Front Rush", new PathPlannerAuto("Front Rush")); // Runs full Auto
+        autonChooser.addOption(
+                "Front Rush 12", new PathPlannerAuto("Front Rush 12")); // Runs full Auto
 
         autonChooser.addOption(
-                "Front Rush Alt", new PathPlannerAuto("Front Rush Alt")); // Runs full Auto
+                "Front Rush 23", new PathPlannerAuto("Front Rush 23")); // Runs full Auto
         autonChooser.addOption(
                 "Front Rush 13", new PathPlannerAuto("Front Rush 13")); // Runs full Auto
         autonChooser.addOption(
@@ -66,6 +67,8 @@ public static void setupSelectors() {
 
         autonChooser.addOption("Subwoofer", new PathPlannerAuto("Subwoofer")); // Runs full Auto
 
+        autonChooser.addOption("Do Nothing", Commands.print("Do Nothing Auto ran"));
+
         SmartDashboard.putData("Auto Chooser", autonChooser);
     }
 

diff --git a/src/main/java/frc/robot/leds/LEDsCommands.java b/src/main/java/frc/robot/leds/LEDsCommands.java
@@ -116,6 +116,10 @@ public static Command launchReadyStrobe() {
                 .withName("LEDs.launchReadyStrobe");
     }
 
+    public static Command manualSourceStrobe() {
+        return customStrobe(Section.FULL, Color.kRed, 3, 20).withName("LEDs.manualSourceStrobe");
+    }
+
     public static Command intakeReadyStrobe() {
         return customStrobe(Section.FULL, Color.kGreen, 5, 10).withName("LEDs.intakeReadyStrobe");
     }

diff --git a/src/main/java/frc/robot/mechanisms/intake/Intake.java b/src/main/java/frc/robot/mechanisms/intake/Intake.java
@@ -2,6 +2,7 @@
 
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import frc.robot.RobotConfig;
 import frc.spectrumLib.mechanism.Mechanism;
 import frc.spectrumLib.mechanism.TalonFXFactory;
@@ -23,7 +24,7 @@ public class IntakeConfig extends Config {
 
         /* Intake config values */
         public double currentLimit = 30;
-        public double torqueCurrentLimit = 100;
+        public double torqueCurrentLimit = 120;
         public double threshold = 40;
         public double velocityKp = 12; // 0.156152;
         public double velocityKv = 0.2; // 0.12;
@@ -117,6 +118,25 @@ public Command ensureBrakeMode() {
                 .ignoringDisable(true);
     }
 
+    public Command intakeWithoutCurrentLimit() {
+        return new FunctionalCommand(
+                        () ->
+                                toggleTorqueCurrentLimit(
+                                        config.torqueCurrentLimit,
+                                        false), // init -- turn off current limits
+                        () ->
+                                setVelocityTorqueCurrentFOC(
+                                        config.intake), // execute -- run at intake velocity
+                        (b) -> {
+                            toggleTorqueCurrentLimit(
+                                    config.torqueCurrentLimit,
+                                    true); // end -- reenable current limits
+                        },
+                        () -> false, // isFinished
+                        this) // requirement
+                .withName("Intake.intakeWithoutCurrentLimit");
+    }
+
     /**
      * Stops the intake motor.
      *