Post flr

README.md

@@ -1,13 +1,14 @@
 # StuyPulse 2026 Robot Code: _TribecBot_
 
 ### Link
-https://github.com/StuyPulse/Tribecbot/tree/main/src/main/java/com/stuypulse/robot
+[Robot Code](./src/main/java/com/stuypulse/robot)
 
 ### Mechanisms
 
 - Swerve
-- L1 Climb + ~~Vertically Expanding Hopper~~
 - Handoff -> Turret + Hooded Shooter
 - Spindexer
 - Intake + Passive Horizontally Expanding Hopper
+- Passive Vertically Expanding Hopper (net)
 - Vision with 3 LimeLight 4s
+- LEDs

build.gradle

@@ -36,6 +36,12 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+                    jvmArgs.add("-Djava.rmi.server.hostname=10.6.94.2") // Replace TE.AM with team number
                 }
 
                 // Static files artifact

simgui.json

@@ -1,4 +1,14 @@
 {
+  "HALProvider": {
+    "Addressable LEDs": {
+      "0": {
+        "serpentine": true
+      },
+      "window": {
+        "visible": true
+      }
+    }
+  },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
@@ -14,6 +24,8 @@
       "/SmartDashboard/Robot/Ryan Testing Seed Hood Encoder (NEW)": "Command",
       "/SmartDashboard/Robot/Scheduled Commands": "Scheduler",
       "/SmartDashboard/Robot/Seed Hood Relative Encoder At Upper Hardstop": "Command",
+      "/SmartDashboard/Robot/Seed Pivot Encoder at Lower Limit (Deployed)": "Command",
+      "/SmartDashboard/Robot/Seed Pivot Encoder at Upper Limit (Stowed)": "Command",
       "/SmartDashboard/Robot/Seed Turret": "Command",
       "/SmartDashboard/Robot/Set Back LL PF": "Command",
       "/SmartDashboard/Robot/Set Left LL PF": "Command",
@@ -60,19 +72,13 @@
   "NetworkTables": {
     "transitory": {
       "SmartDashboard": {
-        "FieldPositions": {
-          "open": true
-        },
-        "Handoff": {
-          "open": true
-        },
-        "Intake": {
-          "open": true
-        },
         "States": {
-          "open": true
+          "open": false
         },
-        "Vision": {
+        "Superstructure": {
+          "Turret": {
+            "open": true
+          },
           "open": true
         },
         "open": true

src/main/deploy/pathplanner/autos/Left Bump 2 Cycle.auto

@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench To NZ"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left NZ To Score (B)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Bump To Trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench To NZ (B)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Bump To Trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench To NZ (F)"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Right Bump 2 Cycle.auto

@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Trench To NZ"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right NZ To Score (B)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Bump To Trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Trench To NZ (B)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Bump To Trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Trench To NZ (F)"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Box 1.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Box 2.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Box 3.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Box 4.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Depot To Tower Left.path

@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Left Bump To Depot.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 7.5,
     "maxAngularVelocity": 300.0,
     "maxAngularAcceleration": 900.0,
     "nominalVoltage": 12.0,