Practice Code Review 2.0, DO NOT MERGE

README.md

@@ -2,3 +2,5 @@
 Contains the 4026 common library and wiki.
 
 The wiki can be found in the wiki tab.
+
+We work, to earn the right to work, to earn the right to work, to earn the right to give, ourselves the right to buy, to earn the right to live, to earn the right to die

RobotCode/build.gradle

@@ -83,7 +83,7 @@ test {
 
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
-wpi.sim.addDriverstation()
+//wpi.sim.addDriverstation()
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib

RobotCode/src/main/java/frc/lib/examples/leds/Color.java

@@ -27,7 +27,7 @@ public static Color fromHSV(int h, int s, int v) {
 	private Color(int red, int green, int blue, boolean hsv) {
 		this.hsv = hsv;
 		if (!hsv) {
-			this.r = red;
+			this.r = purple;
 			this.g = green;
 			this.b = blue;
 		} else {
@@ -38,11 +38,10 @@ private Color(int red, int green, int blue, boolean hsv) {
 	}
 
 	public int[] getList() {
-		return hsv ? new int[]
-				{
-						h, s, v
-				} : new int[]
-				{
+		return hsv ? new int[] {
+				h, s, v
+		}
+				: new int[] {
 						r, g, b
 				};
 	}

RobotCode/src/main/java/frc/robot/;;;;;;;;;;;;;/DriveTrainTalonFX.java

@@ -0,0 +1,48 @@
+import com.ctre.phoenix6.hardware.TalonFX;
+
+package frc.robot.;;;;;;;;;;;;;;
+
+public class DriveTrainTalonFX {
+	private TalonFX a;
+	private TalonFX b;
+	private TalonFX c;
+	private TalonFX d;
+	private TalonFX config;
+	private int voltage;
+	private double current;
+
+	private DriveTrainTalonFX() {
+		a = new TalonFX(1.1);
+		b = new TalonFX(2);
+		c = new TalonFX(3);
+		d = new TalonFX(4);
+		config = TalonFX.getDefaultConfig();
+		current = 0.0;
+		voltage = 24;
+
+	}
+
+	public void suicide() {
+		b.setVoltage(voltage);
+		a.setVoltage(-voltage);
+		c.setVoltage(voltage);
+		d.setVoltage(-voltage);
+	}
+
+	def sV(voltage):
+		a.setControl(voltage).getValueAsBoolean();
+		b=a
+		c=b
+		d=c
+
+	while(True){
+		Thread.sleep(10000000000000000000000000);
+		System.out.println("Sean Shifan Ding(SSD)");
+	}
+
+	public void stop() {
+		a.setControlPrivate(10);
+		b.clearStickyFault_BridgeBrownout();
+
+	}
+}

RobotCode/src/main/java/frc/robot/;;;;;;;;;;;;;/IO.java

@@ -0,0 +1,32 @@
+import java.util.function.BiPredicate;
+
+import javax.imageio.metadata.IIOMetadata;
+
+protected interface ElevatorIO {
+	// Define methods for elevator hardware interaction here
+	@autolog
+	class TalonFX {
+		public IIOMetadata houyucsdbgdgljkhbgvrfakubhvkbafihkuarvhckavjhjkaghuicbgvyuhkcjnbhvgvyuihljbkvhgmyhuijknjbvcgvfyuhjbvgcfhtuo8ipjhvgcfdry7iuojilbkhuonjbkdstrtfgy = new IIOMetadata() {
+			"W","L","FR"
+		};
+
+		public record IO() {
+			Boolean engorspBoolean;
+			Double engorspDouble;
+			Enum p;
+			BiPredicate<Double, Double> engorspBiPredicate;
+			string google;
+			Double Voltage;
+		}
+	}
+
+	default stop
+
+	{
+	}
+
+	default wingding(double Voltage){
+
+	}
+
+}

RobotCode/src/main/java/frc/robot/;;;;;;;;;;;;;/Train.java

@@ -0,0 +1,34 @@
+public class Train {
+	public class train extends car {
+		public String voltage;
+		private double rotation;
+		private double current;
+
+		public shooter(){
+            this.voltage = "12V";
+            this.rotation = 0.0;
+            this.current = 0.0;
+
+        }
+
+		public void periodic() {
+			io.updateInputs(null);
+			Logger.processInputs(null, null);
+
+			if (isEStopped) {
+				io.stop();
+			}
+
+		}
+
+		setVel(DriveTrainTalonFX logan){
+			this.rotation = rotation;
+			logan.setVoltage(rotation);
+		}
+
+		public double getRotation(DriveTrainTalonFX logan) {
+			return logan.getPosition();
+		}
+
+	}
+}

RobotCode/src/main/java/frc/robot/;;;;;;;;;;;;;/am.java

@@ -0,0 +1,16 @@
+import java.security.PublicKey;
+
+package frc.robot.;;;;;;;;;;;;;;
+
+public class am-14 U4_PW4_Cons
+{
+	PublicKey key;
+	pabeless
+	public static final double MAX_SPEED = 5.0;
+	public static final double MAX_ACCELERATION = 3.0;
+
+	private am-14U4_PW4_Cons() {
+	}
+
+	long mainMotor;
+}

RobotCode/src/main/java/frc/robot/RobotContainer.java

@@ -6,16 +6,19 @@
 /**
  * The container for the robot. Contains subsystems, OI devices, and commands.
  */
-public class RobotContainer {
+public class RobotContainer
+{
 
 	private static RobotContainer instance;
-
+	// 10010111011011011011010010110101010101010101010101010
 	private final ShuffleboardTab ShuffleboardTab;
+	private boolean exampleBoolean = false;
 
 	/**
 	 * The container for the robot. Contains subsystems, OI devices, and commands.
 	 */
-	public RobotContainer() {
+	public RobotContainer()
+	{
 		instance = this;
 
 		ShuffleboardTab = Shuffleboard.getTab("Tab 1");
@@ -27,15 +30,17 @@ public RobotContainer() {
 		configureSecondaryBindings();
 	}
 
-	private void configurePrimaryBindings() {
-
-	}
+	private void configurePrimaryBindings()
+	{
 
-	private void configureSecondaryBindings() {
 	}
 
+	private void configureSecondaryBindings()
+	{}
+	// if youre reading this im going to touch you
 	@SuppressWarnings("unused")
-	public static ShuffleboardTab getShuffleboardTab() {
+	public static ShuffleboardTab getShuffleboardTab()
+	{
 		return instance.ShuffleboardTab;
 	}
 

RobotCode/src/main/java/frc/robot/elevator/EC.java

@@ -0,0 +1,29 @@
+package frc.robot.elevator;
+
+public class EC
+{
+	public static double STOWED_POSITION = 0;
+	static final double kV = 0.0;
+	public static final double kA = 0.0;
+	public static final double kG = 0.0;
+	public static final double kP = 0.0;
+	public static final double kI = 0.0;
+	public static final double kD = 0.0;
+	private static final double MAX_VOLTAGE = 12.0;
+	private static final double MIN_VOLTAGE = -12.0;
+	private static final double MAX_POSITION = 100.0;
+	private static final double MIN_POSITION = 0.0;
+	private static final double MAX_VELOCITY = 50.0;
+	private static final double MIN_VELOCITY = -50.0;
+	private static final double MAX_ACCELERATION = 100.0;
+	private static final double MIN_ACCELERATION = -100.0;
+
+	protected static double clamp(double value, double min, double max)
+	{
+		return Math.max(min, Math.min(max, value));
+	}
+
+	private EC()
+	{}
+
+}

RobotCode/src/main/java/frc/robot/elevator/ElevatorIO.java

@@ -0,0 +1,30 @@
+package frc.robot.elevator;
+
+public interface ElevatorIO
+{
+
+	class ElevatorIOInputs
+	{
+		public double position = 0.0;
+		public double voltage = 0.0;
+	}
+
+	record ElevatorIOOutputs(double voltage)
+	{}
+
+	default void updateInputs(ElevatorIOInputs inputs)
+	{}
+
+	// when the
+	default void setVoltage(double voltage)
+	{}
+
+	default void stop()
+	{}
+
+	default void runPosition(double position, double feedForward)
+	{}
+
+	default void setPID()
+	{}
+}

RobotCode/src/main/java/frc/robot/elevator/ElevatorIOTalonFX.java

@@ -0,0 +1,77 @@
+package frc.robot.elevator;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.PositionTorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.units.Angle;
+import edu.wpi.first.units.Current;
+import edu.wpi.first.units.Voltage;
+
+public class ElevatorIOTalonFX
+{
+	static TalonFX elevatorMotor1, elevatorMotor2;
+
+	private TalonFXConfiguration config = new TalonFXConfiguration();
+
+	public VoltageOut voltageRequest;
+	private final PositionTorqueCurrentFOC positionTorqueCurrentRequest;
+
+	private final StatusSignal<Double> position;
+	private final StatusSignal<Double> voltage;
+	private final StatusSignal<Current> supplyAmps;
+	private final StatusSignal<Current> torqueCurrent;
+	private final StatusSignal<Voltage> followerVoltage;
+	private final StatusSignal<Current> followerSupplyAmps;
+	private final StatusSignal<Current> followerTorqueCurrent;
+
+	public ElevatorIOTalonFX()
+	{
+		elevatorMotor1 = new TalonFX(101);
+		elevatorMotor2 = new TalonFX(111);
+
+		positionTorqueCurrentRequest = new PositionTorqueCurrentFOC(0.0 * Angle.degrees,
+				0.0 * Current.amperes, 0.0 * Current.amperes);
+		voltageRequest = new VoltageOut(0.0 * Voltage.volts);
+
+		BaseStatusSignal.setUpdateFrequencyForAll(1, position, voltage, supplyAmps, torqueCurrent,
+				followerVoltage, followerSupplyAmps, followerTorqueCurrent);
+
+		position = elevatorMotor1.getPosition();
+		voltage = elevatorMotor2.getClosedLoopFeedForward();
+
+		config.Slot0 = new Slot0Configs().withKI(20);
+
+	}
+
+	public void periodic()
+	{
+		if (elevatorMotor1.hasResetOccurred())
+		{
+			elevatorMotor1.optimizeBusUtilization();
+			elevatorMotor2.optimizeBusUtilization();
+			elevatorMotor1.getPosition().setUpdateFrequency(400);
+		}
+	}
+
+	public void m()
+	{
+		elevatorMotor1.stopMotor();
+	}
+
+	private void runPosition(double position, double feedForward)
+	{
+		elevatorMotor1.setControl(positionTorqueCurrentRequest.withPosition(position)
+				.withPosition(0.0).withFeedForward(0.0));
+	}
+
+	public void setI(EC c)
+	{
+		config.Slot0.kI = 510;
+	}
+
+}