Controller

.vscode/launch.json

@@ -4,40 +4,38 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
     {
-      "type": "wpilib",
-      "name": "WPILib Desktop Debug",
+      "type": "java",
+      "name": "Main",
       "request": "launch",
-      "desktop": true,
+      "mainClass": "frc.robot.Main",
+      "projectName": "Robot2026"
     },
     {
-      "type": "wpilib",
-      "name": "WPILib roboRIO Debug",
+      "type": "java",
+      "name": "IndexerConstants",
       "request": "launch",
-      "desktop": false,
-    }
-  ]
-}
-
-{
-  // Use IntelliSense to learn about possible attributes.
-  // Hover to view descriptions of existing attributes.
-  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-  "version": "0.2.0",
-  "configurations": [
-
+      "mainClass": "frc.robot.subsystems.indexer.IndexerConstants",
+      "projectName": "Robot2026"
+    },
+    {
+      "type": "java",
+      "name": "Indexer",
+      "request": "launch",
+      "mainClass": "frc.robot.subsystems.indexer.Indexer",
+      "projectName": "Robot2026"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

build.gradle

@@ -27,6 +27,13 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    // Enable VisualVM connection
+                    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=10.14.58.2") // Replace TE.AM with team number
                 }
 
                 // Static files artifact
@@ -52,11 +59,21 @@ def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
+
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
+    classpath = sourceSets.main.runtimeClasspath
+}
+
 dependencies {
     annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
+    // ...
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 

src/main/java/frc/robot/ControlsMapping.java → src/main/java/frc/robot/ControlMap.java

@@ -2,16 +2,35 @@
 
 import static frc.robot.Robot.controller;
 
+import java.lang.reflect.Method;
+import java.util.function.Supplier;
+
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
-import edu.wpi.first.math.geometry.*;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
+import frc.robot.auto.AutoRoutines;
+import frc.robot.auto.AutoSelector.Auto;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.ctre.CtreDrive.SysIdRoutineType;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
-public class ControlsMapping {
-	public static void mapTeleopCommand() {
+public class ControlMap {
+	public static void implement(String key) {
+		switch (key) {
+			case "mapTwo": mapTwo(); break;
+			default: standard();
+		}
+	}
+
+	public static void standard() {
 		Drive.getInstance().setDefaultCommand((Drive.getInstance().teleopCommand()));
 		// run sysID functions
 		Drive.getInstance().getCtreDrive().setSysIdRoutine(SysIdRoutineType.STEER);
@@ -21,7 +40,38 @@ public static void mapTeleopCommand() {
 		controller.rightBumper().whileTrue(Drive.getInstance().autoAlign(false));
 		controller.x().whileTrue(Drive.getInstance().autopilotAlign(true));
 		controller.y().whileTrue(Drive.getInstance().autopilotAlign(false));
+		controller.b().whileTrue(HangCommand()); // TODO: Implement hang from armaaan
+		controller.leftTrigger().whileTrue(intakeCommand());
+		controller.rightTrigger().whileTrue(shooterCommand());
+	}
+
+	public static void mapTwo() {
+		Drive.getInstance().setDefaultCommand((Drive.getInstance().teleopCommand()));
+		// run sysID functions
+		Drive.getInstance().getCtreDrive().setSysIdRoutine(SysIdRoutineType.STEER);
+
+		controller.a().whileTrue(shooterCommand());
+		controller.leftBumper().whileTrue(Drive.getInstance().autoAlign(true));
+		controller.rightBumper().whileTrue(Drive.getInstance().autoAlign(false));
+		controller.x().whileTrue(Drive.getInstance().autopilotAlign(true));
+		controller.y().whileTrue(intakeCommand());
+		controller.b().whileTrue(Drive.getInstance().autopilotAlign(false));
+		controller.leftTrigger().whileTrue(HangCommand()); // TODO: Implement hang from armaaan
+		controller.rightTrigger().onTrue(Drive.getInstance().resetPoseCommand(new Pose2d()));
+	}
+
+	public static Command intakeCommand() {
+		return Commands.print("Intaking");
+	}
+	public static Command HangCommand() {
+		return Commands.print("Hanging");
+	}
+	public static Command shooterCommand() {
+		return Commands.print("Shooting");
+
 	}
+
+		//make a method that returns command, but it returns command.none, replace everything with new instance command with the command name.
 
 	public static void mapSysId() {
 		// set up sysID routine type

src/main/java/frc/robot/Robot.java

@@ -1,26 +1,48 @@
 package frc.robot;
 
+<<<<<<< HEAD
+import com.pathplanner.lib.commands.FollowPathCommand;
+
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.TimedRobot;
+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.CommandScheduler;
+=======
 import frc.robot.auto.AutoSelector;
 
 import java.util.Optional;
 
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
 import com.pathplanner.lib.commands.FollowPathCommand;
 
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.logging.EpilogueBackend;
 import edu.wpi.first.hal.AllianceStationID;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;	
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.util.Color;
-import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Constants.Controllers;
+import frc.robot.auto.AutoSelector;
 import frc.robot.subsystems.TelemetryManager;
-import frc.robot.subsystems.drive.*;
+import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.vision.VisionDeviceManager;
 
 /**
@@ -29,10 +51,13 @@
  * this project, you must also update the Main.java file in the project.
  */
 @SuppressWarnings("unused")
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
 	private static final CommandScheduler commandScheduler = CommandScheduler.getInstance();
 	private AutoSelector autoChooser;
 	private Command autoCommand;
+	private static final String standardMap = "standard";
+    private static final String mapTwo = "mapTwo";
+    private final SendableChooser<String> mapChooser = new SendableChooser<>();
 
 	public static final CommandXboxController controller =
 		new CommandXboxController(Controllers.DRIVER_CONTROLLER_PORT);
@@ -60,6 +85,10 @@ public Robot() {
 		  System.out.println("Log/USB mounts NOT OK");
 		}
 		DriverStation.startDataLog(DataLogManager.getLog());
+
+		mapChooser.setDefaultOption("Standard Keybinds", standardMap);
+    	mapChooser.addOption("Second Control Map", mapTwo);
+    	SmartDashboard.putData("Keybinds", mapChooser);
 	}
 
 	/**
@@ -71,6 +100,15 @@ public Robot() {
 	 */
 	@Override
 	public void robotPeriodic() {
+		Logger.recordOutput("RobotPose", new Pose2d());
+		Logger.recordOutput("ZeroedComponentPose", new Pose3d[] {new Pose3d()});
+		Logger.recordOutput(
+			"FinalComponentPoses",
+			new Pose3d[] {
+				new Pose3d(
+					-0.238, 0.0, 0.298, new Rotation3d(0.0, Math.sin(Timer.getTimestamp
+					()) -1.0, 0.0)),
+			});
 		// Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
 		// commands, running already-scheduled commands, removing finished or interrupted commands,
 		// and running subsystem periodic() methods.  This must be called from the robot's periodic
@@ -118,7 +156,9 @@ public void teleopInit() {
 		}
 		Drive.getInstance().setDefaultCommand(Drive.getInstance().teleopCommand());
 
-		ControlsMapping.mapTeleopCommand();
+		String selectedMap = mapChooser.getSelected();
+    	System.out.println("Keybind selected: " + selectedMap);
+		ControlMap.implement(selectedMap);
 	}
 
 	/** This function is called periodically during operator control. */
@@ -132,7 +172,7 @@ public void testInit() {
 		CommandScheduler.getInstance().cancelAll();
 
 		//map test commands
-		ControlsMapping.mapSysId();
+		ControlMap.mapSysId();
 	}
 
 	/** This function is called periodically during test mode. */