started pid (oliver kingsley add a remote from this)

.gitattributes

@@ -1,5 +1,6 @@
 * text=auto
 *.sh text eol=lf
+*.bat text eol=crlf
 *.gradle text eol=lf
 *.java text eol=lf
 *.json text eol=lf

.github/workflows/comment-command.yml

@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             const {owner, repo} = context.issue
@@ -34,7 +34,7 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: 3.8
       - name: Install wpiformat

.styleguide

@@ -1,4 +1,3 @@
-
 cppHeaderFileInclude {
    \.h$
    \.hpp$

README.md

@@ -50,11 +50,11 @@ Cleaning removes caches of your compiled code. If you do not understand an error
 Simulation
 ----------
 **Release**
-`./gradlew :nativeSimulation`
+`./gradlew :simulateNative`
 Runs a simulation of your code at highest optimisation.
 
 **Debug**
-`./gradlew :nativeSimulationDebug`
+`./gradlew :simulateNativeDebug`
 Runs a debug simulation of your code, including a variety of debugging tools similar to glass but at lower optimisation.
 
 Documentation

src/main/cpp/AlphaArm.cpp

@@ -0,0 +1,66 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "AlphaArm.h"
+
+AlphaArm::AlphaArm(AlphaArmConfig config) : _config(config) {}
+
+AlphaArmConfig AlphaArm::GetConfig() {
+  return _config;
+}
+
+void AlphaArm::OnUpdate(units::second_t dt) {
+  switch (_state) {
+    case AlphaArmState::kIdle:
+
+      // _config.alphaArmGearbox.motorController->SetVoltage(0_V);
+      // _config.wristGearbox.motorController->SetVoltage(0_V);
+      _setAlphaArmVoltage = 0_V;
+      _setWristVoltage = 0_V;
+
+      break;
+    case AlphaArmState::kRaw:
+      _setAlphaArmVoltage = _rawArmVoltage;
+      _setWristVoltage = _rawWristVoltage;
+      _config.alphaArmGearbox.motorController->SetVoltage(_rawArmVoltage);
+      _config.wristGearbox.motorController->SetVoltage(_rawWristVoltage);
+
+      break;
+    case AlphaArmState::kForwardWrist:
+      _config.wristGearbox.motorController->SetVoltage(3_V);
+      _setWristVoltage = 3_V;
+
+    case AlphaArmState::kReverseWrist:
+      _config.wristGearbox.motorController->SetVoltage(-3_V);
+      _setWristVoltage = -3_V;
+    default:
+      std::cout << "oops, wrong state" << std::endl;
+      break;
+  }
+  // transmission translate
+  // _config.armGearBox.motorController->SetVoltage(setAlphaArmVoltage);
+  // _config.alphaArmGearbox.motorController->SetVoltage(setAlphaArmVoltage);
+  // _config.wristGearbox.motorController->SetVoltage(setWristVoltage);
+  _config.alphaArmGearbox.motorController->SetVoltage(_setAlphaArmVoltage);
+  _config.wristGearbox.motorController->SetVoltage(_setWristVoltage);
+
+  // _config.wristGearbox.motorController->SetVoltage(_setVoltage);
+}
+
+void AlphaArm::SetState(AlphaArmState state) {
+  _state = state;
+}
+
+// void AlphaArm::SetRaw(units::volt_t voltage){
+//     _rawArmVoltage = voltage;
+//     _rawWristVoltage = voltage;
+// }
+
+void AlphaArm::SetArmRaw(units::volt_t voltage) {
+  _rawArmVoltage = voltage;
+}
+
+void AlphaArm::setWristRaw(units::volt_t voltage) {
+  _rawWristVoltage = voltage;
+}

src/main/cpp/AlphaArmBehaviour.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "AlphaArmBehaviour.h"
+
+#include <frc/XboxController.h>
+
+AlphaArmManualControl::AlphaArmManualControl(AlphaArm* alphaArm, frc::XboxController* codriver)
+    : _alphaArm(alphaArm), _codriver(codriver) {
+  Controls(alphaArm);
+}
+
+void AlphaArmManualControl::OnTick(units::second_t dt) {
+  if (_codriver->GetXButtonPressed()) {
+    if (_rawControl == true) {
+      _rawControl = false;
+    } else {
+      _rawControl = true;
+    }
+  }
+
+  if (_rawControl) {
+    _alphaArm->SetState(AlphaArmState::kRaw);
+    _alphaArm->SetArmRaw(_codriver->GetRightY() * 6_V);
+    _alphaArm->setWristRaw(_codriver->GetLeftY() * -6_V);
+  } else {
+    if (_codriver->GetRightBumperPressed()) {
+      _alphaArm->SetState(AlphaArmState::kForwardWrist);
+    }
+    if (_codriver->GetLeftBumperPressed()) {
+      _alphaArm->SetState(AlphaArmState::kReverseWrist);
+    }
+  }
+}

src/main/cpp/Intake.cpp

@@ -63,7 +63,6 @@ void Intake::OnUpdate(units::second_t dt) {
         _passing = false;
       }
     } break;
-
     default:
       std::cout << "Error: Intake in INVALID STATE." << std::endl;
       break;
@@ -74,6 +73,9 @@ void Intake::OnUpdate(units::second_t dt) {
   _table->GetEntry("Error").SetDouble(_pid.GetError().value());
   _table->GetEntry("SetPoint").SetDouble(_pid.GetSetpoint().value());
   // _table->GetEntry("Shooter Sensor: ").SetBoolean(_config.shooterSensor->Get());
+  // _table->GetEntry("Intake Sensor: ").SetBoolean(_config.intakeSensor->Get());
+  // _table->GetEntry("Shooter Sensor: ").SetBoolean(_config.shooterSensor->Get());
+  // _table->GetEntry("Magazine Sensor: ").SetBoolean(_config.magSensor->Get());
 
   std::cout << _setVoltage.value() << std::endl;
 

src/main/cpp/IntakeBehaviour.cpp

@@ -6,7 +6,8 @@
 
 #include <frc/XboxController.h>
 
-IntakeManualControl::IntakeManualControl(Intake* intake, frc::XboxController& codriver) : _intake(intake), _codriver(codriver) {
+IntakeManualControl::IntakeManualControl(Intake* intake, frc::XboxController& codriver)
+    : _intake(intake), _codriver(codriver) {
   Controls(intake);
 }
 
@@ -24,7 +25,7 @@ void IntakeManualControl::OnTick(units::second_t dt) {
       _intake->setState(IntakeState::kRaw);
     }
   }
-  
+
   if (_rawControl) {
     if (_codriver.GetRightTriggerAxis() > 0.1) {
       _intake->setRaw(_codriver.GetRightTriggerAxis() * 10_V);

src/main/cpp/Robot.cpp

@@ -18,58 +18,52 @@
 #include <units/velocity.h>
 #include <units/voltage.h>
 
-#include <frc/kinematics/DifferentialDriveKinematics.h>
-#include <frc/controller/RamseteController.h>
-#include <frc/Timer.h>
 #include "behaviour/HasBehaviour.h"
 
 static units::second_t lastPeriodic;
 
 void Robot::RobotInit() {
-
   shooter = new Shooter(robotmap.shooterSystem.config);
   wom::BehaviourScheduler::GetInstance()->Register(shooter);
   shooter->SetDefaultBehaviour(
-     [this]() {return wom::make<ShooterManualControl>(shooter, &robotmap.controllers.codriver); });
-  
+      [this]() { return wom::make<ShooterManualControl>(shooter, &robotmap.controllers.codriver); });
+
   sched = wom::BehaviourScheduler::GetInstance();
   m_chooser.SetDefaultOption("Default Auto", "Default Auto");
 
-  frc::SmartDashboard::PutData("Auto Selector", &m_chooser);
+  // frc::SmartDashboard::PutData("Auto Selector", &m_chooser);
 
-  m_path_chooser.SetDefaultOption("Path1", "paths/output/Path1.wpilib.json");
+  // m_path_chooser.SetDefaultOption("Path1", "paths/output/Path1.wpilib.json");
 
-  m_path_chooser.AddOption("Path1", "paths/output/Path1.wpilib.json");
-  m_path_chooser.AddOption("Path2", "paths/output/Path2.wpilib.json");
+  // m_path_chooser.AddOption("Path1", "paths/output/Path1.wpilib.json");
+  // m_path_chooser.AddOption("Path2", "paths/output/Path2.wpilib.json");
 
-  frc::SmartDashboard::PutData("Path Selector", &m_path_chooser);
+  // frc::SmartDashboard::PutData("Path Selector", &m_path_chooser);
 
-  frc::SmartDashboard::PutData("Field", &m_field);
+  // frc::SmartDashboard::PutData("Field", &m_field);
 
-  simulation_timer = frc::Timer();
+  // simulation_timer = frc::Timer();
 
-  robotmap.swerveBase.gyro->Reset();
+  // robotmap.swerveBase.gyro->Reset();
 
-  _swerveDrive =
-      new wom::SwerveDrive(robotmap.swerveBase.config, frc::Pose2d());
+  _swerveDrive = new wom::SwerveDrive(robotmap.swerveBase.config, frc::Pose2d());
   wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
-  _swerveDrive->SetDefaultBehaviour([this]() {
-    return wom::make<wom::ManualDrivebase>(_swerveDrive,
-                                           &robotmap.controllers.driver);
-  });
+  _swerveDrive->SetDefaultBehaviour(
+      [this]() { return wom::make<wom::ManualDrivebase>(_swerveDrive, &robotmap.controllers.driver); });
 
-
   // m_driveSim = new wom::TempSimSwerveDrive(&simulation_timer, &m_field);
   // m_driveSim = wom::TempSimSwerveDrive();
 
+  alphaArm = new AlphaArm(robotmap.alphaArmSystem.config);
+  wom::BehaviourScheduler::GetInstance()->Register(alphaArm);
+  alphaArm->SetDefaultBehaviour(
+      [this]() { return wom::make<AlphaArmManualControl>(alphaArm, &robotmap.controllers.codriver); });
+
   robotmap.swerveBase.moduleConfigs[0].turnMotor.encoder->SetEncoderOffset(0_rad);
   robotmap.swerveBase.moduleConfigs[1].turnMotor.encoder->SetEncoderOffset(0_rad);
   robotmap.swerveBase.moduleConfigs[2].turnMotor.encoder->SetEncoderOffset(0_rad);
   robotmap.swerveBase.moduleConfigs[3].turnMotor.encoder->SetEncoderOffset(0_rad);
 
-
-
-
   // frontLeft = new ctre::phoenix6::hardware::TalonFX(7, "Drivebase");  // front left
   // frontRight = new ctre::phoenix6::hardware::TalonFX(2, "Drivebase");   // front right
   // backLeft = new ctre::phoenix6::hardware::TalonFX(6, "Drivebase");   // back left
@@ -95,24 +89,30 @@ void Robot::RobotPeriodic() {
   shooter->OnUpdate(dt);
   sched->Tick();
 
-  robotmap.swerveTable.swerveDriveTable->GetEntry("frontLeftEncoder").SetDouble(robotmap.swerveBase.moduleConfigs[0].turnMotor.encoder->GetEncoderPosition().value());
-  robotmap.swerveTable.swerveDriveTable->GetEntry("frontRightEncoder").SetDouble(robotmap.swerveBase.moduleConfigs[1].turnMotor.encoder->GetEncoderPosition().value());
-  robotmap.swerveTable.swerveDriveTable->GetEntry("backLeftEncoder").SetDouble(robotmap.swerveBase.moduleConfigs[2].turnMotor.encoder->GetEncoderPosition().value());
-  robotmap.swerveTable.swerveDriveTable->GetEntry("backRightEncoder").SetDouble(robotmap.swerveBase.moduleConfigs[3].turnMotor.encoder->GetEncoderPosition().value());
-
+  robotmap.swerveTable.swerveDriveTable->GetEntry("frontLeftEncoder")
+      .SetDouble(robotmap.swerveBase.moduleConfigs[0].turnMotor.encoder->GetEncoderPosition().value());
+  robotmap.swerveTable.swerveDriveTable->GetEntry("frontRightEncoder")
+      .SetDouble(robotmap.swerveBase.moduleConfigs[1].turnMotor.encoder->GetEncoderPosition().value());
+  robotmap.swerveTable.swerveDriveTable->GetEntry("backLeftEncoder")
+      .SetDouble(robotmap.swerveBase.moduleConfigs[2].turnMotor.encoder->GetEncoderPosition().value());
+  robotmap.swerveTable.swerveDriveTable->GetEntry("backRightEncoder")
+      .SetDouble(robotmap.swerveBase.moduleConfigs[3].turnMotor.encoder->GetEncoderPosition().value());
+
+  _swerveDrive->OnUpdate(dt);
+  alphaArm->OnUpdate(dt);
+  shooter->OnStart();
   intake->OnUpdate(dt);
 }
 
 void Robot::AutonomousInit() {
   loop.Clear();
   sched->InterruptAll();
 }
-void Robot::AutonomousPeriodic() {
-}
+void Robot::AutonomousPeriodic() {}
 
 void Robot::TeleopInit() {
   loop.Clear();
-  wom::BehaviourScheduler *sched = wom::BehaviourScheduler::GetInstance();
+  wom::BehaviourScheduler* sched = wom::BehaviourScheduler::GetInstance();
   sched->InterruptAll();
 
   // frontLeft->SetVoltage(4_V);
@@ -130,4 +130,4 @@ void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
 void Robot::TestInit() {}
-void Robot::TestPeriodic() {}
+void Robot::TestPeriodic() {}