Improvement/always aim turret - #31
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…ys and years just for the autos to be perfect. Co-Authored-By: CameronSkea <233858202+CameronSkea@users.noreply.github.com>
autos are ready to be reviewed by kyle/driveteam. added a intake visual for robot and created more autos. Co-Authored-By: CameronSkea <233858202+CameronSkea@users.noreply.github.com>
Expose a new isNearTrench() method on IntakeIO and add an implementation in IntakeIOReal. IntakeIOReal gained drivetrain/pose usage, new fields (isNearTrench, lastState), and imports (Pose2d, GenericDrivetrain, IntakeCommands). Also added an intake reference in LauncherIOReal, but the file contains unresolved merge conflict markers that must be cleaned up. Note: the new isNearTrench implementation references several undefined symbols (nearAllianceTop, nearOppAllianceTop, etc.) and may require additional wiring or fixes to compile and behave correctly.
Reveal day lock in
Co-Authored-By: CameronSkea <233858202+CameronSkea@users.noreply.github.com>
…ectCode Camerons awesome branch with only correct code
Implement trench proximity detection and related cleanups. IntakeIOReal.isNearTrench() now computes whether the robot is inside defined trench zones (using FieldConstants) and publishes booleans to SmartDashboard; Intake.isNearTrench() delegates to IO. IntakeCommands: remove duplicate enum entry, delete unused deployingCommand(), and reformat commented transitions and whitespace. IndexerCommands has minor lambda formatting cleanup. Update BuildConstants with new git/build metadata. UI config updates: add transfer mechanism to simgui.json and adjust joystick mapping in simgui-ds.json.
…osition detection
Merge Long Trans comments
Final Stuff
Increase indexer and intake speed constants for tuning and refine launcher I/O behavior and telemetry. Changes: - Bumped Indexer SPINDEXER_SPEED 0.5->0.6 and TRANSFER_SPEED 0.6->0.7; increased INTAKE_MAX_IN/OUT 0.8->0.9. - LauncherIOReal: added Commands import; introduced turretLowLimit/turretHighLimit and read hardware limits from motor controller config. - Namespaced SmartDashboard keys under "EasyCRT/" and added more descriptive CRT telemetry. - Set turret encoder position from CRT solver and bound turret min/max triggers to run a command that stops the motor. - Adjusted flywheel calculation multiplier from 0.45 to 0.43. - setTurretRotation now clamps requested angle to limits and publishes a "Launcher/Turret Limit" flag.
Autos, no buzz, turret zero
…m/FRC5010/Rebuilt2026 into improvement/turret-control-update
Comment out the Trigger that responded to launcher.isNearTrench(), which previously invoked auto/escape hammer-time commands. This prevents automatic hammer-time state transitions while preserving the original lines as reference for future re-enablement or debugging.
Performance merge
…-control-update # Conflicts: # src/main/java/frc/robot/BuildConstants.java # src/main/java/frc/robot/rebuilt/commands/TestCommands.java Co-authored-by: clrozeboom <15949244+clrozeboom@users.noreply.github.com>
Improvement/turret control update
Add some Pizazz
Update OrchestraManager to match CTRE Phoenix6 API changes: use CANBus for canivore devices, pass bus/config indices to TalonFX configurator, and adjust addInstrument calls. Add StatusCode checking for orchestra.play() with error logging, and expose isPlaying() helper. In Rebuilt, publish orchestra playing state to SmartDashboard in disabledPeriodic so operators can see if music is active while disabled.
Store the provided OrchestraConfigJson for later use and only populate the music map in init. The TalonFX instrument creation, configurator application, and CANBus setup were moved from init() into loadMusic(), so instruments are instantiated and added to the Orchestra right before loading a music file. Also rename the init parameter to configJson and introduce a static musicConfigJson to retain configuration between init and load.
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pull this in...this is good code @heatonk