Added new constants and separated JSON files between the pushbot and the real robot.

src/main/deploy/YAGSL/real/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

src/main/deploy/YAGSL/real/modules/backleft.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -9,
+    "left": 9
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 58,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 28,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/YAGSL/real/modules/backright.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -9,
+    "left": -9
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 59,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 29,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/YAGSL/real/modules/frontleft.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 9,
+    "left": 9
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 57,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 27,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/YAGSL/real/modules/frontright.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 9,
+    "left": -9
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 60,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo",
+    "id": 30,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/YAGSL/real/modules/physicalproperties.json

@@ -0,0 +1,24 @@
+{
+  "optimalVoltage": 12,
+  "robotMass": 137,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 12.8,
+      "factor": 0
+    },
+    "drive": {
+      "diameter": 4,
+      "gearRatio": 6.75,
+      "factor": 0
+    }
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  }
+}

src/main/deploy/YAGSL/real/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/YAGSL/real/swervedrive.json

@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "navx_spi",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}

src/main/java/frc/robot/RobotContainer.java

@@ -134,7 +134,7 @@ public RobotContainer() {
                                 SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro);
 
                                 drivebase = !Constants.TESTBED ? new SwerveSubsystem(
-                                                new File(Filesystem.getDeployDirectory(), "YAGSL"), swerveIMU) : null;
+                                                new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.JSON_DIRECTORY), swerveIMU) : null;
                             apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase) : null;
                         }
                         case REPLAY -> {
@@ -151,7 +151,7 @@ public RobotContainer() {
                                 intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createMockIo());
                 // No GyroSubsystem in REPLAY for now
                 // create the drive subsystem with null gyro (use default json)
-                drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL"), null) : null;
+                drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.JSON_DIRECTORY), null) : null;
                 apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createMockIo(), drivebase) : null;
             }
             case SIM -> {
@@ -170,7 +170,7 @@ public RobotContainer() {
                                 intakeDeployer = new IntakeDeployerSubsystem(
                                                 IntakeDeployerSubsystem.createSimIo(robotVisualizer));// No GyroSubsystem in REPLAY for now
                 // create the drive subsystem with null gyro (use default json)
-                drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL"), null) : null;
+                drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.JSON_DIRECTORY), null) : null;
                 apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createSimIo(), drivebase) : null;
             }
 

src/main/java/frc/robot/constants/Constants.java

@@ -14,5 +14,10 @@
  * constants are needed, to reduce verbosity.
  */
 
-public class Constants extends Constants2026 {}
 
+// To use the other constatns files, change which line is not commented out here.
+// Then discard changes to this file before committing.
+public class Constants extends ConstantsPushbot2026 {
+// public class Constants extends ConstantsReal2026 {
+// public class Constants extends ConstantsTestbed2026 {
+}

src/main/java/frc/robot/constants/Constants2026.java → src/main/java/frc/robot/constants/ConstantsPushbot2026.java

@@ -1,8 +1,8 @@
 package frc.robot.constants;
 
-public class Constants2026 extends GameConstants {
+public class ConstantsPushbot2026 extends GameConstants {
 
-    // Constants2026 is only for CANIDs and nothing else, everything else goes into GameConstants.
+    // ConstantsPushbot2026 is only for CANIDs and nothing else, everything else goes into GameConstants.
 
     public static final int ROLLER_MOTOR_ID = 10; // we dont have a roller this year i thought?
     public static final int TILT_MOTOR_ID = 20; // we dont have a tilt this year i thought?
@@ -33,6 +33,6 @@ public class Constants2026 extends GameConstants {
     public static final int SERVER_SOCKET_ATTEMPT_DELAY = 100;
     public static final int TCP_SERVER_PORT = 5806;
 
-
+    public static final String JSON_DIRECTORY = "pushbot";
 
 }

src/main/java/frc/robot/constants/ConstantsReal2026.java

@@ -0,0 +1,20 @@
+package frc.robot.constants;
+
+public class ConstantsReal2026 extends ConstantsPushbot2026 {
+
+    public static final String JSON_DIRECTORY = "real";
+
+    // shooter related
+    public static final int SHOOTER_MOTOR_ID = 53;
+    public static final int SHOOTER_FOLLOWER_MOTOR_ID = 54;
+    public static final int ANGLER_MOTOR_ID = 11;
+
+    // other CAN-ID's
+    public static final int TURRET_MOTOR_ID = 1;
+    public static final int FEEDER_MOTOR_ID = 2;
+    public static final int HOPPER_MOTOR_ID = 3;
+    public static final int INTAKE_MOTOR_ID = 4;
+    public static final int INTAKE_DEPLOYMENT_ID = 5;
+    public static final int CLIMBER_MOTOR_ID = 6;
+
+}

src/main/java/frc/robot/constants/ConstantsTestbed2026.java

@@ -1,19 +1,19 @@
 package frc.robot.constants;
 
-public class ConstantsTestbed2026 extends Constants2026 {
+/**
+  * To use the TestBed constants, change Constants.java to read: {@code public class Constants extends
+  * ConstantsTestbed2026}
+  *
+  * <p>instead of: {@code public class Constants extends ConstantsPushbot2026}
+  *
+  * <p>Then revert changes to Constants.java and ConstantsTestBed.java before committing.
+  */
+public class ConstantsTestbed2026 extends ConstantsPushbot2026 {
 
     // public static final int ROLLER_MOTOR_ID = 40;
     // public static final int TILT_MOTOR_ID = 42;
     //Intake motor id (43) isn't real
     // public static final int HOPPER_MOTOR_ID = 43;
-    /**
-   * To use the TestBed constants, change Constants.java to read: public class Constants extends
-   * ConstantsTestbedClean2025
-   *
-   * <p>instead of: public class Constants extends Constants2025
-   *
-   * <p>Then revert changes to Constants.java and ConstantsTestBed.java before committing.
-   */
 
      /**
    * This an example of overriding a specific motor ID for testing, no changes to this file should