Merge pull request #48 from strykeforce/initialClimbTest

Initial Climb Testing

Author: mwitcpalek

README.md

@@ -57,7 +57,21 @@
 | Robot     | eventInterlock | 6   |
 |           |                | 7   |
 |           |                | 8   |
-|           |                | 9   |
+|           |                | 9   | 
+
+## PWM
+| Subsystem | name         | ID  |
+| --------- | ------------ | --- |
+| Climb     | leftRatchet  | 0   |
+| Climb     | rightRatchet | 1   |
+| Climb     | leftTrapBar  | 2   |
+| Climb     | rightTrapBar | 3   |
+|           |              | 4   |
+|           |              | 5   |
+|           |              | 6   |
+|           |              | 7   |
+|           |              | 8   |
+|           |              | 9 |
 
 ## MXP
 | Subsystem | name   | ID |

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
     id "com.diffplug.spotless" version "6.12.1"
     id "com.peterabeles.gversion" version "1.10"
 }

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

@@ -73,7 +73,7 @@ public void robotInit() {
     Logger.start();
 
     m_robotContainer = new RobotContainer();
-    m_robotContainer.setIsEvent(isEvent);
+    // m_robotContainer.setIsEvent(isEvent);
     if (!isEvent) {
       m_robotContainer.configureTelemetry();
       // m_robotContainer.configurePitDashboard();
@@ -88,7 +88,7 @@ public void robotPeriodic() {
         Alliance alliance = DriverStation.getAlliance().get();
         if (alliance == Alliance.Blue || alliance == Alliance.Red) {
           hasAlliance = true;
-          m_robotContainer.setAllianceColor(alliance);
+          // m_robotContainer.setAllianceColor(alliance);
           logger.info("Set Alliance to {}", alliance);
         }
       } catch (NoSuchElementException error) {
@@ -108,6 +108,7 @@ public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
+    if (!m_robotContainer.hasElbowZeroed()) m_robotContainer.zeroElbow();
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
@@ -126,6 +127,9 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
+    if (!m_robotContainer.hasElbowZeroed()) {
+      m_robotContainer.zeroElbow();
+    }
   }
 
   @Override