Cleanup for Final Release (#282)

* Fix units for Drivetrain Pose Estimator * Remove unused imports * remove MORE unused imports woah all the files are white now :0 * Add Back Vision (because it still works) * Clean up autos * reorganized and labeled robot preferences * Update Controller Maps * deleted unused preference....in constants o.O * removed unused preference also changed a transfer preference to correct preference (they're the same value anyway so i didn't explode anything) * update readme but i can't write :( * Move all inversions to constants * Guess who re-implemented vision wrong and then saw this comment * Clean RobotContainer * Remove the part of the Conventions that we didn't follow + PDH ports * Went through all of the preferences (Aside from climber ones) * Fix Climber Positioning (Might wanna test this one) * Almost accidentally removed some controls (crisis adverted) * Intake visualization is now properly flipped * Fix pitch visualization (its so pretty now :D) * Begin updating README with sim photos * added robot features to readme aaa * actually fix the climber * Fix the climber IN SIM 🤨 * Add Simulation Photo --------- Co-authored-by: Alena <112772895+Alenguye582@users.noreply.github.com>
FRCTeam3255 · Apr 13, 2024 · f044d95 · f044d95
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diff --git a/README.md b/README.md
@@ -1,11 +1,14 @@
-# FRC Team 3255's 2024 Robot Code
+# Shang-Chi - FRC Team 3255's 2024 Robot
 Jump into the code [`here!`](src/main/java/frc/robot)
 
-This robot will be competing at the regional level in the following competitions: 
+
+Shang-Chi competed at the regional level in the following competitions: 
 - [Port Hueneme](https://www.thebluealliance.com/event/2024caph)
 - [San Diego](https://www.thebluealliance.com/event/2024casd)
 
-## View our Robot in Action!
+At the end of qualification matches at SDR, Shang-Chi ranked 2nd of 51 teams. We ultimately placed 4th as the 2nd seeded alliance with [Team 2102 Team Paradox](https://www.thebluealliance.com/team/2102/2024) and [Team 3341 Option 16](https://www.thebluealliance.com/team/3341/2024)!
+
+## View Shang-Chi in Action!
 - [Instagram](https://www.instagram.com/frcteam3255/) 
 - [YouTube (Primary)](https://www.youtube.com/@FRC3255)
 - [YouTube (Clips)](https://www.youtube.com/@FRC3255Clips)
@@ -22,4 +25,9 @@ competitions (depending on region) to qualify for the FIRST Championship in Hous
 Interested in learning more about CRESCENDO? Visit [FIRST's website](https://www.firstinspires.org/robotics/frc/game-and-season) for more details!
 
 ## Controls
-![Controls](src/main/assets/controllerMap2024.png)
+![Controllers](src/main/assets/controllerMap2024.png)
+![Numpad](src/main/assets/numpadMap2024.png)
+
+## Robot Simulation
+![Photo of Shang-Chi in Sim](src/main/assets/simPhoto.png)
+Interested in visualizing our code in AdvantageScope? Find our 3d robot model [here](https://drive.google.com/drive/folders/1FDgifq-smxX3cTIWhzZPKftL3REFLVva?usp=sharing)! Download the "Robot_2024_Shang-Chi" folder and follow the official instructions on [importing custom assets into AdvantageScope](https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/CUSTOM-ASSETS.md#custom-assets).
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -8,12 +8,10 @@
     {
       "axisConfig": [
         {
-          "decKey": 65,
-          "incKey": 68
+          "decKey": 65
         },
         {
-          "decKey": 87,
-          "incKey": 83
+          "decKey": 87
         },
         {
           "decayRate": 0.0,
@@ -25,13 +23,18 @@
           "incKey": 82
         }
       ],
-      "axisCount": 5,
-      "buttonCount": 4,
+      "axisCount": 0,
+      "buttonCount": 9,
       "buttonKeys": [
         90,
         88,
         67,
-        86
+        86,
+        83,
+        68,
+        -1,
+        -1,
+        -1
       ],
       "povConfig": [
         {
@@ -45,7 +48,7 @@
           "key90": 326
         }
       ],
-      "povCount": 1
+      "povCount": 0
     },
     {
       "axisConfig": [
@@ -99,11 +102,14 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "78696e70757401000000000000000000",
       "useGamepad": true
     },
     {
+      "guid": "78696e70757401000000000000000000",
       "useGamepad": true
+    },
+    {
+      "guid": "Keyboard0"
     }
   ]
 }
diff --git a/src/main/assets/controllerMap2024.png b/src/main/assets/controllerMap2024.png
diff --git a/src/main/assets/numpadMap2024.png b/src/main/assets/numpadMap2024.png
diff --git a/src/main/assets/simPhoto.png b/src/main/assets/simPhoto.png
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -12,15 +12,13 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import com.frcteam3255.components.swerve.SN_SwerveConstants;
-import com.frcteam3255.preferences.SN_BooleanPreference;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.math.util.Units;
-import frc.robot.Constants.constDrivetrain.pracBot;
 
 /*
  * @formatter:off
@@ -32,21 +30,12 @@
  * | Angle per Time    | Degrees per Second    |
  * | Time              | Seconds               |
  * @formatter:on
- *
- * If the unit does not fall under any of these types, 
- * add a JavaDoc for that variable specifying it's unit. 
- * Avoid specifying units in the variable name.
- * Preferences that obviously don't use the above units (ex. PID)
- * are exempt from this
  */
 public final class Constants {
   public static class constClimber {
-    public static final double GEAR_RATIO = 18.56;
+    public static final double GEAR_RATIO = 133.0739;
     public static final NeutralModeValue NEUTRAL_MODE = NeutralModeValue.Brake;
     public static final GravityTypeValue GRAVITY_TYPE = GravityTypeValue.Elevator_Static;
-
-    public static final SN_BooleanPreference climberInverted = new SN_BooleanPreference("climberInverted", true);
-
     public static final InvertedValue MOTOR_INVERTED = InvertedValue.Clockwise_Positive;
   }
 
@@ -120,7 +109,7 @@ public static class pracBot {
         SN_SwerveConstants.MK4I.KRAKEN.L3.driveGearRatio,
         SN_SwerveConstants.MK4I.KRAKEN.L3.maxSpeedMeters);
 
-    public static final InvertedValue DRIVE_MOTOR_INVERT = InvertedValue.CounterClockwise_Positive; // false
+    public static final InvertedValue DRIVE_MOTOR_INVERT = InvertedValue.CounterClockwise_Positive;
     public static final InvertedValue STEER_MOTOR_INVERT = InvertedValue.Clockwise_Positive;
     public static final SensorDirectionValue CANCODER_INVERT = SensorDirectionValue.CounterClockwise_Positive;
 
@@ -212,14 +201,15 @@ public static final class pracBot {
     public static final InterpolatingDoubleTreeMap DISTANCE_MAP = new InterpolatingDoubleTreeMap();
 
     // Comments indicate where we placed the robot directly in line with the SPEAKER
+    // to get the value
     static {
       DISTANCE_MAP.put(1.3373, 56.0); // Subwoofer
       DISTANCE_MAP.put(2.295, 41.0); // Starting Line
       DISTANCE_MAP.put(3.3073, 31.0); // Spike Mark
       DISTANCE_MAP.put(4.6173, 25.5); // Mid Wing
       DISTANCE_MAP.put(6.2296, 20.6995); // Edge Wing, value sponsored by NOMAD
       DISTANCE_MAP.put(6.5973, 19.9); // Mid Centerline
-      DISTANCE_MAP.put(8.6973, 18.3255); // Edge Centerline, value sponsored by us :)
+      DISTANCE_MAP.put(8.6973, 18.3255); // Edge Centerline, value sponsored by us :D
 
       // edge of bumper to center of turret = 42.29cm = 0.4229 m
     }
@@ -257,41 +247,7 @@ public static class constRobot {
 
     public static final boolean TUNING_MODE = false;
 
-    /**
-     * Volts
-     */
     public static final boolean SILENCE_JOYSTICK_WARNINGS = true;
-
-    // @formatter:off
-    /**
-     * Updated by Alice to match Comp bot Feb. 19
-     */
-    public static final String[] PDH_DEVICES = {
-        /*  0 */ "Swerve/FL Steer",
-        /*  1 */ "Swerve/FL Drive",
-        /*  2 */ "Shooter/Right",
-        /*  3 */ "Transfer/Feeder",
-        /*  4 */ "Shooter/Pitch",
-        /*  5 */ "Transfer/Transfer",
-        /*  6 */ "Shooter/Left",
-        /*  7 */ "7 HAS NOTHING!",
-        /*  8 */ "Swerve/FR Steer",
-        /*  9 */ "Swerve/FR Drive",
-        /* 10 */ "Swerve/BR Drive",
-        /* 11 */ "Swerve/BR Steer",
-        /* 12 */ "12 HAS NOTHING!",
-        /* 13 */ "13 HAS NOTHING!",
-        /* 14 */ "14 HAS NOTHING!",
-        /* 15 */ "15 HAS NOTHING!",
-        /* 16 */ "Turret",
-        /* 17 */ "Swerve/BL Steer",
-        /* 18 */ "Swerve/BL Drive",
-        /* 19 */ "Ethernet Switch",
-        /* 20 */ "Swerve CANCoders & Pigeon",
-        /* 21 */ "RoboRIO",
-        /* 22 */ "Radio Power Module",
-        /* 23 */ "Beelink" };
-    // @formatter:on
   }
 
   public static class constShooter {
@@ -317,6 +273,8 @@ public static class pracBot {
     public static final double ABS_ENCODER_OFFSET = 0.011700;
     public static final boolean ABS_ENCODER_INVERT = false;
 
+    public static final InvertedValue MOTOR_INVERTED = InvertedValue.CounterClockwise_Positive;
+
     /**
      * The amount that the absolute encoder's rotation must surpass before we start
      * calculating the angle as negative

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -54,9 +54,8 @@ public void robotPeriodic() {
     CommandScheduler.getInstance().run();
 
     // Logging to SmartDashboard
-    // RobotContainer.logPDHValues();
-    // RobotContainer.AddVisionMeasurement().schedule();
     RobotContainer.updateLoggedPoses();
+    RobotContainer.AddVisionMeasurement();
     SmartDashboard.putString("Current Locked Location", RobotContainer.getLockedLocation().toString());
   }
 
@@ -81,7 +80,6 @@ public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     RobotContainer.zeroClimber().schedule();
-    // RobotContainer.stowIntakePivot().schedule();
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
@@ -104,7 +102,6 @@ public void teleopInit() {
 
     if (!hasAutonomousRun) {
       RobotContainer.zeroClimber().schedule();
-      // RobotContainer.stowIntakePivot().schedule();
     }
   }