Bring Main to Vision-Testing

.gitignore

@@ -177,3 +177,6 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystemBackupWithAutocorrect.java
+src/main/java/frc/robot/Auto/AutoTrap.java
+src/main/java/frc/robot/subsystems/vision/AlignToTrap.java

.vscode/settings.json

@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.debug.settings.onBuildFailureProceed": true
 }

networktables.json

@@ -1 +1,138 @@
-[]
+[
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter In Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Out Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Amp Shoot Speed",
+    "type": "double",
+    "value": 10.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Movement Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Rotation Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Is Robot Relative",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Swerve Steer Tolerance",
+    "type": "double",
+    "value": 1.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Full Intake Setting",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Climber/Climber Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter In Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Out Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  }
+]

networktables.json.bck

@@ -0,0 +1,138 @@
+[
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter In Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Out Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Shooter Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Shooter/Amp Shoot Speed",
+    "type": "double",
+    "value": 10.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Movement Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Rotation Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Is Robot Relative",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Swerve/Swerve Steer Tolerance",
+    "type": "double",
+    "value": 1.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Intake/Full Intake Setting",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/Settings/Climber/Climber Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter In Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Out Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Intake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/SmartDashboard/Settings/Shooter Outtake Speed",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  }
+]

simgui-ds.json

@@ -91,7 +91,8 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
     }
   ]
 }

simgui.json

@@ -17,6 +17,18 @@
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/Debug/Commands/Full Intake": "Command",
+      "/Shuffleboard/Debug/Commands/Go 1 Meter Forward": "Command",
+      "/Shuffleboard/Debug/Commands/Go 1 Meter Left": "Command",
+      "/Shuffleboard/Debug/Commands/LED Charge Up": "Command",
+      "/Shuffleboard/Debug/Commands/Loosen Climber": "Command",
+      "/Shuffleboard/Debug/Commands/Shoot": "Command",
+      "/Shuffleboard/Debug/Commands/Shoot At 45 Degrees": "Command",
+      "/Shuffleboard/Debug/Commands/Tighten Climber": "Command",
+      "/Shuffleboard/Debug/Commands/Turn 90 Degrees": "Command",
+      "/Shuffleboard/Debug/Commands/Turn Shooter To 45 Degrees": "Command",
+      "/Shuffleboard/Debug/Commands/Turn To 90 Degrees": "Command",
+      "/Shuffleboard/Settings/Auto/Auto": "String Chooser",
       "/SmartDashboard/Auto choices": "String Chooser"
     }
   },

src/main/deploy/pathplanner/autos/2 Meter Spin.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.0,
+      "y": 0.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2 Meter Spin"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/2 Meter Up.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.0,
+      "y": 0.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2 Meter Up"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}