changes to do to dev

.gitmodules

@@ -1,4 +0,0 @@
-[submodule "src/main/java/edu/greenblitz/GBLib"]
-	path = src/main/java/edu/greenblitz/GBLib
-	url = https://github.com/GreenBlitz/GBLib.git
-	branch = GBLib-submodule

src/main/java/edu/greenblitz/pegasus/Main.java

@@ -1,7 +1,7 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
+  
 package edu.greenblitz.pegasus;
 
 import edu.wpi.first.wpilibj.RobotBase;

src/main/java/edu/greenblitz/pegasus/OI.java

@@ -1,5 +1,6 @@
 package edu.greenblitz.pegasus;
 
+import com.fasterxml.jackson.databind.PropertyNamingStrategies;
 import edu.greenblitz.pegasus.commands.funnel.RunFunnel;
 import edu.greenblitz.pegasus.commands.intake.extender.ToggleRoller;
 import edu.greenblitz.pegasus.commands.intake.roller.RunRoller;
@@ -9,76 +10,87 @@
 import edu.greenblitz.pegasus.commands.shooter.ShooterEvacuate;
 import edu.greenblitz.pegasus.commands.shooter.StopShooter;
 import edu.greenblitz.pegasus.commands.swerve.CombineJoystickMovement;
+import edu.greenblitz.pegasus.commands.swerve.MoveByVisionSupplier;
+import edu.greenblitz.pegasus.commands.swerve.measurement.CalibrateAll;
+import edu.greenblitz.pegasus.commands.swerve.measurement.CalibrateLampreyByNeo;
+import edu.greenblitz.pegasus.subsystems.Funnel;
 import edu.greenblitz.pegasus.subsystems.Intake;
 import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
-import edu.greenblitz.pegasus.utils.DigitalInputMap;
 import edu.greenblitz.pegasus.utils.hid.SmartJoystick;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 
+public class OI { //GEVALD
 
-public class OI {
+	private static OI instance;
+	private static boolean isHandled = true;
+	private final SmartJoystick mainJoystick;
+
+	private final SmartJoystick thirdJoyStick;
+	private final SmartJoystick secondJoystick;
 
 
-    private static OI instance;
-    private static boolean isHandled = true;
-    private final SmartJoystick mainJoystick;
+	private OI() {
+		mainJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.MAIN, 0.1);
+		secondJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.SECOND, 0.2);
+		thirdJoyStick = new SmartJoystick(RobotMap.Pegasus.Joystick.debug);
+		initButtons();
 
-    private final SmartJoystick secondJoystick;
+	}
 
-    private OI() {
-        mainJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.MAIN, 0.1);
-        secondJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.SECOND, 0.2);
-        initButtons();
+	public static OI getInstance() {
+		if (instance == null) {
+			instance = new OI();
+		}
+		return instance;
+	}
 
-    }
+	public static boolean isIsHandled() {
+		return isHandled;
+	}
 
-    public static OI getInstance() {
-        if (instance == null) {
-            instance = new OI();
-        }
-        return instance;
-    }
+	public static void disableHandling() {
+		isHandled = false;
+	}
 
-    public static boolean isIsHandled() {
-        return isHandled;
-    }
+	private void initButtons() {
+		SwerveChassis.getInstance().setDefaultCommand(new CombineJoystickMovement(false));
 
-    public static void disableHandling() {
-        isHandled = false;
-    }
+		mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle()));
+		mainJoystick.X.whenHeld(new MoveByVisionSupplier(false));
+		mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders()));
 
-    private void initButtons() {
-        SwerveChassis.getInstance().setDefaultCommand(new CombineJoystickMovement(mainJoystick, false));
+		mainJoystick.R1.whenHeld(new StartEndCommand(() -> Intake.getInstance().getExtender().retract(),
+				() -> Intake.getInstance().getExtender().extend()));
 
-        mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle()));
+		secondJoystick.Y.whenHeld(new EjectEnemyBallFromGripper());
 
-        mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders()));
+		secondJoystick.R1.whenHeld(new ShooterByRPM(RobotMap.Pegasus.Shooter.ShooterMotor.RPM).andThen(new StopShooter()));
 
-        mainJoystick.R1.whenHeld(new StartEndCommand(() -> Intake.getInstance().getExtender().retract(),
-                () -> Intake.getInstance().getExtender().extend()));
+		secondJoystick.A.whenHeld(new InsertIntoShooter());
 
-        secondJoystick.Y.whenHeld(new EjectEnemyBallFromGripper());
+		secondJoystick.B.whenHeld(new RunRoller().alongWith(new RunFunnel().until(() -> Funnel.getInstance().isMacroSwitchPressed())));
 
-        secondJoystick.R1.whenHeld(new ShooterByRPM(RobotMap.Pegasus.Shooter.ShooterMotor.RPM).andThen(new StopShooter()));
 
-        secondJoystick.A.whenHeld(new InsertIntoShooter());
+		secondJoystick.START.toggleWhenPressed(new ToggleRoller());
+		secondJoystick.POV_DOWN.whileHeld(new RunFunnel());
+		secondJoystick.POV_UP.whenPressed(new ShooterEvacuate());
+
+
 
-        secondJoystick.B.whenHeld(new RunRoller().alongWith(new RunFunnel().until(() -> DigitalInputMap.getInstance().getValue(0))));
+
+		//debug joysticks
+		thirdJoyStick.X.toggleWhenPressed(new CalibrateAll());
 
+
+	}
 
-        secondJoystick.START.toggleWhenPressed(new ToggleRoller());
-        secondJoystick.POV_DOWN.whileHeld(new RunFunnel());
-        secondJoystick.POV_UP.whenPressed(new ShooterEvacuate());
+	public SmartJoystick getMainJoystick() {
+		return mainJoystick;
+	}
 
-    }
+	public SmartJoystick getSecondJoystick() {
+		return secondJoystick;
+	}
 
-    public SmartJoystick getMainJoystick() {
-        return mainJoystick;
-    }
-
-    public SmartJoystick getSecondJoystick() {
-        return secondJoystick;
-    }
-
-}
+}

src/main/java/edu/greenblitz/pegasus/Robot.java

@@ -1,29 +1,41 @@
 package edu.greenblitz.pegasus;
 
+
+import edu.greenblitz.pegasus.commands.BatteryDisabler;
 import edu.greenblitz.pegasus.commands.auto.Taxi;
+import edu.greenblitz.pegasus.subsystems.Battery;
+import edu.greenblitz.pegasus.subsystems.Dashboard;
+import edu.greenblitz.pegasus.subsystems.Indexing;
 import edu.greenblitz.pegasus.subsystems.*;
 import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
-import edu.greenblitz.pegasus.utils.DigitalInputMap;
+import edu.wpi.first.util.net.PortForwarder;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
 	@Override
 	public void robotInit() {
 		CommandScheduler.getInstance().enable();
-
-		DigitalInputMap.getInstance();
 		Pneumatics.init();
 		Dashboard.init();
+		Limelight.getInstance();
 		Funnel.getInstance();
 		Intake.getInstance();
 		Indexing.getInstance();
+		PortForwarder.add(5800, "gloworm.local", 5800);
+		PortForwarder.add(5801, "gloworm.local", 5801);
+		PortForwarder.add(5802, "gloworm.local", 5802);
+		PortForwarder.add(5803, "gloworm.local", 5803);
+		PortForwarder.add(5804, "gloworm.local", 5804);
+		PortForwarder.add(5805, "gloworm.local", 5805);
 		Shooter.create(RobotMap.Pegasus.Shooter.ShooterMotor.PORT_LEADER);
-
-		//todo add voltage compensation
-		//swerve
+		LiveWindow.disableAllTelemetry();
+		Battery.getInstance().setDefaultCommand(new BatteryDisabler());
 
+		//swerve
+
 		SwerveChassis.getInstance().resetChassisAngle();
 		SwerveChassis.getInstance().resetAllEncoders();
 		SmartDashboard.putNumber("auto number", 1);
@@ -35,7 +47,6 @@ public void robotInit() {
 	@Override
 	public void robotPeriodic() {
 		CommandScheduler.getInstance().run();
-		SmartDashboard.putNumber("pigeon angle", Math.toDegrees(SwerveChassis.getInstance().getChassisAngle()));
 	}
 
 
@@ -60,11 +71,6 @@ public void teleopPeriodic() {
 	*/
 	@Override
 	public void autonomousInit() {
-		//resets encoders
-		SwerveChassis.getInstance().resetAllEncoders();
-		SwerveChassis.getInstance().resetLocalizer();
-				(new Taxi(2.5, 2)).schedule(); //THIS   //todo sendablechooser for choosing auto
-
 
 	}