pulled from alpha into auto

.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

@@ -0,0 +1,51 @@
+name: Comment Commands
+on:
+  issue_comment:
+    types: [ created ]
+
+jobs:
+  format:
+    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/format')
+    runs-on: ubuntu-22.04
+    steps:
+      - name: React Rocket
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const {owner, repo} = context.issue
+            github.rest.reactions.createForIssueComment({
+              owner,
+              repo,
+              comment_id: context.payload.comment.id,
+              content: "rocket",
+            });
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ secrets.GITHUB_TOKEN }}
+      - name: Fetch all history and metadata
+        run: |
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Checkout PR
+        run: |
+          gh pr checkout $NUMBER
+        env:
+          GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+          NUMBER: ${{ github.event.issue.number }}
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.8
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run wpiformat
+        run: wpiformat
+      - name: Commit
+        run: |
+          # Set credentials
+          git config user.name "github-actions[bot]"
+          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
+          # Commit
+          git commit -am "Formatting fixes"
+          git push

README.md

@@ -13,8 +13,6 @@ Fork this repository then open up a terminal and run :
 ```bash
 git clone https://github.com/*yourusernamehere*/2024-Crescendo.git
 cd 2024-Crescendo
-chmod +x init.sh
-./init.sh
 ```
 Now look in [CONTRIBUTING.md](./CONTRIBUTING.md) before continuing!
 
@@ -24,7 +22,6 @@ Fork this repository then open up a terminal and run :
 ```powershell
 git clone https:\\github.com\*yourusernamehere*\2024-Crescendo.git
 cd 2024-Crescendo
-.\init
 ```
 Now look in [CONTRIBUTING.md](./CONTRIBUTING.md) before continuing!
 
@@ -53,11 +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/Intake.cpp

@@ -13,50 +13,60 @@ IntakeConfig Intake::GetConfig() {
 void Intake::OnUpdate(units::second_t dt) {
   switch (_state) {
     case IntakeState::kIdle: {
-      // _config.IntakeMotor.motorController->SetVoltage(0_V);
-      // if (_config.intakeSensor->Get()) {
-      //   setState(IntakeState::kHold);
-      // }
+      if (_config.intakeSensor->Get() == false) {
+        setState(IntakeState::kHold);
+      }
       _stringStateName = "Idle";
       _setVoltage = 0_V;
     } break;
+
     case IntakeState::kRaw: {
-      // _config.IntakeMotor.motorController->SetVoltage(_rawVoltage);
       _stringStateName = "Raw";
       _setVoltage = _rawVoltage;
     } break;
+
     case IntakeState::kEject: {
-      // _config.IntakeMotor.motorController->SetVoltage(-5_V);
-      // if (_config.intakeSensor->Get() == 0 && _config.magSensor->Get() == 0) {
-      //   setState(IntakeState::kIdle);
-      // }
       _stringStateName = "Eject";
-      _setVoltage = -5_V;
+      _setVoltage = 7_V;
+      if (_config.intakeSensor->Get() == true) {
+        setState(IntakeState::kIdle);
+        _ejecting = false;
+      }
     } break;
+
     case IntakeState::kHold: {
-      // _config.IntakeMotor.motorController->SetVoltage(0_V);
       _stringStateName = "Hold";
       _setVoltage = 0_V;
+      // if (_config.intakeSensor->Get() == false) {
+      //   setState(IntakeState::kHold);
+      // }
     } break;
+
     case IntakeState::kIntake: {
-      // _config.IntakeMotor.motorController->SetVoltage(5_V);
       _stringStateName = "Intake";
-      _setVoltage = 5_V;
+      _setVoltage = -7_V;
+      if (_config.intakeSensor->Get() == false) {
+        setState(IntakeState::kHold);
+        _intaking = false;
+      }
     } break;
+
     case IntakeState::kPass: {
-      // _config.IntakeMotor.motorController->SetVoltage(5_V);
-      // if (_config.shooterSensor->Get()) {
-      //   setState(IntakeState::kIdle);
-      //   _stringStateName = "Pass";
-      // }
-      _setVoltage = 5_V;
+      _stringStateName = "Pass";
+      _setVoltage = -7_V;
+      if (_config.intakeSensor->Get() == true) {
+        setState(IntakeState::kIdle);
+        _passing = false;
+      }
     } break;
     default:
       std::cout << "Error: Intake in INVALID STATE." << std::endl;
       break;
   }
   _table->GetEntry("State: ").SetString(_stringStateName);
   _table->GetEntry("Motor Voltage: ").SetDouble(_setVoltage.value());
+  _table->GetEntry("Intake Sensor: ").SetBoolean(_config.intakeSensor->Get());
+  // _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());
@@ -72,3 +82,6 @@ void Intake::setState(IntakeState state) {
 void Intake::setRaw(units::volt_t voltage) {
   _rawVoltage = voltage;
 }
+IntakeState Intake::getState() {
+  return _state;
+}

src/main/cpp/IntakeBehaviour.cpp

@@ -12,36 +12,79 @@ IntakeManualControl::IntakeManualControl(Intake* intake, frc::XboxController& co
 }
 
 void IntakeManualControl::OnTick(units::second_t dt) {
-  if (_codriver.GetBButtonPressed()) {
-    if (_rawControl == true) {
+  if (_codriver.GetBButtonReleased()) {
+    if (_rawControl) {
       _rawControl = false;
+      _intaking = false;
+      _ejecting = false;
+      _intake->setState(IntakeState::kIdle);
     } else {
       _rawControl = true;
+      _intaking = false;
+      _ejecting = false;
+      _intake->setState(IntakeState::kRaw);
     }
   }
 
   if (_rawControl) {
-    _intake->setState(IntakeState::kRaw);
-    if (_codriver.GetLeftBumper()) {
-      _intake->setRaw(10_V);
-    } else if (_codriver.GetRightBumper()) {
-      _intake->setRaw(-10_V);
+    if (_codriver.GetRightTriggerAxis() > 0.1) {
+      _intake->setRaw(_codriver.GetRightTriggerAxis() * 10_V);
+    } else if (_codriver.GetLeftTriggerAxis() > 0.1) {
+      _intake->setRaw(_codriver.GetLeftTriggerAxis() * -10_V);
     } else {
       _intake->setRaw(0_V);
     }
+    _intake->setState(IntakeState::kRaw);
+
+  } else {
+    if (_codriver.GetRightTriggerAxis() > 0.1) {
+      if (_intaking) {
+        _intaking = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _intaking = true;
+        _ejecting = false;
+      }
+    }
+
+    if (_codriver.GetLeftTriggerAxis() > 0.1) {
+      if (_ejecting) {
+        _ejecting = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _ejecting = true;
+        _intaking = false;
+      }
+    }
+
+    if (_codriver.GetAButtonPressed()) {
+      if (_passing) {
+        _passing = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _passing = true;
+        _intaking = false;
+      }
+    }
+
+    if (_intaking) {
+      if (_intake->getState() == IntakeState::kIdle) {
+        _intake->setState(IntakeState::kIntake);
+      }
+    }
 
-    // _intake->setRaw(_codriver.GetLeftBumper() * 10_V);
-    // _intake->setRaw(_codriver.GetRightBumper() * -10_V);
-    std::cout << "Raw" << std::endl;
+    if (_passing) {
+      if (_intake->getState() == IntakeState::kHold) {
+        _intake->setState(IntakeState::kPass);
+      }
+    }
+
+    if (_ejecting) {
+      if (_intake->getState() == IntakeState::kIdle || _intake->getState() == IntakeState::kHold) {
+        _intake->setState(IntakeState::kEject);
+      }
+    }
   }
-  // } else {
-  //   if (_codriver.GetYButtonPressed()) {
-  //     _intake->setState(IntakeState::kIntake);
-  //   }
-  //   if (_codriver.GetAButtonPressed()) {
-  //     _intake->setState(IntakeState::kPass);
-  //   }
-  // }
 }
 
 AutoIntake::AutoIntake(Intake* intake, units::volt_t intakeVolt) : _intake(intake) {

src/main/cpp/Robot.cpp

@@ -52,10 +52,6 @@ void Robot::RobotInit() {
 
   // robotmap.swerveBase.gyro->Reset();
 
-  // _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 = new wom::SwerveDrive(robotmap.swerveBase.config, frc::Pose2d());
   wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
   _swerveDrive->SetDefaultBehaviour(
@@ -110,6 +106,7 @@ void Robot::RobotPeriodic() {
 
   _swerveDrive->OnUpdate(dt);
   alphaArm->OnUpdate(dt);
+  shooter->OnStart();
   intake->OnUpdate(dt);
 
 }