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Merge branch 'main' into lights
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‎.vscode/launch.json‎

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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"type": "java",
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"name": "Main",
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"request": "launch",
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"mainClass": "frc.robot.Main",
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"projectName": "reefscape"
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},
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{
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"type": "wpilib",
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"name": "WPILib Desktop Debug",
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"request": "launch",
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"desktop": true,
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"desktop": true
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},
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{
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"type": "wpilib",
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"name": "WPILib roboRIO Debug",
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"request": "launch",
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"desktop": false,
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"desktop": false
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}
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]
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}

‎.vscode/settings.json‎

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"edu.wpi.first.math.**.proto.*",
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"edu.wpi.first.math.**.struct.*",
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],
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"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
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"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
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}

‎README.md‎

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## Controls
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### Driver Controller
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![flysky](docs/driver-controls.png)
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### Operator Controller
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![operator](docs/operator-controls.png)
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## State Diagrams
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### Robot State
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![robotState](docs/reefscape-RobotState-Light.png)
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## CAN Bus
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| Subsystem | Type | Talon | ID | Comp PDP | Proto PDP | Motor | Breaker |
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| --------- | ---- | -------------- | --- | -------- | --------- | ------ | ------- |
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| Drive | FXS | azimuth | 0 | | | Minion | |
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| Drive | FXS | azimuth | 1 | | | Minion | |
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| Drive | FXS | azimuth | 2 | | | Minion | |
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| Drive | FXS | azimuth | 3 | | | Minion | |
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| Drive | FX | drive | 10 | | | kraken | |
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| Drive | FX | drive | 11 | | | kraken | |
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| Drive | FX | drive | 12 | | | kraken | |
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| Drive | FX | drive | 13 | | | kraken | |
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| Elevator | FX | elevatorMain | 20 | | | | |
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| Elevator | FX | elevatorFollow | 21 | | | | |
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| Biscuit | FX | biscuit | 25 | | | | |
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| Algae | FX | rollers | 30 | | | | |
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| Coral | FX | wheels | 35 | | | | |
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| Subsystem | Type | Talon | ID | CAN BUS | Comp PDP | Proto PDP | Motor | Breaker |
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| --------- | -------- | ------------------------- | --- | ------- | -------- | --------- | ------ | ------- |
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| Drive | FXS | azimuth | 0 | FD | | 16 | Minion | |
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| Drive | FXS | azimuth | 1 | FD | | 17 | Minion | |
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| Drive | FXS | azimuth | 2 | FD | | 6 | Minion | |
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| Drive | FXS | azimuth | 3 | FD | | 7 | Minion | |
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| Drive | FX | drive | 10 | FD | | 23 | kraken | |
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| Drive | FX | drive | 11 | FD | | 22 | kraken | |
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| Drive | FX | drive | 12 | FD | | 0 | kraken | |
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| Drive | FX | drive | 13 | FD | | 1 | kraken | |
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| Elevator | FX | elevatorMain | 20 | rio | | 21 | kraken | |
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| Elevator | FX | elevatorFollow | 21 | rio | | 20 | kraken | |
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| Biscuit | FXS | biscuit | 25 | rio | | 3 | Minion | |
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| Algae | FXS | algae | 30 | rio | | | Minion | |
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| Coral | FXS | coral | 35 | rio | | 2 | Minion | |
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| Funnel | FXS | rollers | 40 | rio | | | Minion | |
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| Climb | FX | frontMain | 45 | rio | | | Minion | |
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| Climb | FX | backFollow | 46 | rio | | | kraken | |
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| Climb | CANcoder | CANCoder | 47 | ri0 | | | n/a | |
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| - | - | rio | - | both | | 12 | | |
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| - | - | vrm (radio, pigeon) | - | - | | 13 | | |
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| - | - | custom circuit (pi power) | - | - | | | | |
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## VRM
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| Device | Voltage | Current | ID |
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| --------------- | ------- | ------- | --- |
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| Pigeon 2 | 12 | 0.5 | 4 |
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| Ethernet Switch | 12 | 2 | |
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| | | | |
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## Beam Breaks
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| Subsystem | Talon | ID | Fwd/Rev | Purpose |
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| --------- | ------- | --- | ------- | ------------------ |
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| Funnel | rollers | 40 | | Coral Presence |
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| Coral | wheels | 30 | | Coral partially in |
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| Coral | wheels | 30 | | Coral fully in |
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## Roborio
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| Subsystem | Interface | Device |
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| --------- | --------- | ------ |
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| | USB | |
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| Subsystem | Interface | Device |
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| --------- | --------- | -------- |
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| n/a | USB | CANivore |
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## DIO
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| Subsystem | name | ID |
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| --------- | -------------- | --- |
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| | | 0 |
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| | | 1 |
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| | | 2 |
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| | | 9 |
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| Subsystem | name | ID |
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| ---------- | --------- | --- |
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| BattMon | Batt V | 0 |
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| BattMon | Batt I | 1 |
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| BattMon | PDP V | 2 |
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| BattMon | Breaker T | 3 |
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| AutoSwitch | switch | 4 |
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| AutoSwitch | switch | 5 |
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| AutoSwitch | switch | 6 |
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| AutoSwitch | switch | 7 |
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| AutoSwitch | switch | 8 |
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| AutoSwitch | switch | 9 |
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## MXP
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| Subsystem | name | ID |
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| --------- | ----------- | --- |
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| TagServo | wallSense | 10 |
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| Climb | cageAligned | 11 |
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| | | 12 |
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| | | 13 |
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| | | 14 |
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## PWM
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| Subsystem | name | ID |
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| --------- | ------------ | --- |
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| | | 0 |
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| | | 1 |
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| | | 2 |
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| LED | lights | 0 |
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| Climb | deployServo | 1 |
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| Climb | ratchetServo | 2 |
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| | | 3 |
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| | | 4 |
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| | | 8 |
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## MXP
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| Subsystem | name | ID |
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| --------- | ------ | -- |
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| | | |
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## Analog
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| Subsystem | name | ID |
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| --------- | ------ | --- |
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| Elevator | height | 0 |
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| | | 1 |
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| | | 2 |
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| | | 3 |
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| | | 4 |
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## Cameras
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| Camera | IP Address | Type |
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| ----------- | ----------- | ------- |
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| Left Servo | 10.27.67.11 | USB 3.0 |
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| Right Servo | 10.27.67.12 | USB 3.0 |
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| Upper Left | 10.27.67.11 | USB 2.0 |
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| Upper Right | 10.27.67.12 | USB 2.0 |
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| Rear | 10.27.67.13 | USB 2.0 |

‎build.gradle‎

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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2025.1.1"
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id "edu.wpi.first.GradleRIO" version "2025.2.1"
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id "com.diffplug.spotless" version "6.12.1"
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id "com.peterabeles.gversion" version "1.10"
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}
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implementation 'ch.qos.logback:logback-classic:1.3.5' //logging
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implementation("com.opencsv:opencsv:5.6")
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implementation 'org.strykeforce:wallEYE:24.2.0'
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implementation 'org.strykeforce:wallEYE:25.0.0'
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implementation 'net.jafama:jafama:2.3.2' //fastMath
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}
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‎docs/driver-controls.png‎

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‎docs/operator-controls.png‎

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‎docs/reefscape-RobotState-Light.png‎

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