fixing stuff maybe ?

simgui.json

@@ -39,6 +39,7 @@
       "/FMSInfo": "FMSInfo",
       "/LiveWindow/Tank/All": "Motor Controller",
       "/LiveWindow/Tank/Drive": "DifferentialDrive",
+      "/LiveWindow/Tank/Gyro": "Gyro",
       "/LiveWindow/Ungrouped/DigitalInput[1]": "Digital Input",
       "/LiveWindow/Ungrouped/navX-Sensor[4]": "Gyro",
       "/Shuffleboard/Driver/Gyro": "Gyro",
@@ -82,6 +83,9 @@
       "/SmartDashboard/Field": {
         "Robot": {
           "style": "Track"
+        },
+        "window": {
+          "visible": true
         }
       },
       "/SmartDashboard/Scheduler": {

src/main/java/frc/robot/Interfaces/CANSparkMax.java

@@ -462,11 +462,11 @@ public double getMaxOutputRange() {
   // absolute encoder stuff
   public double getAbsoluteEncoderPosition() {
     throwIfClosed();
-    return getAlternateEncoder(4096).getPosition();
+    return getAbsoluteEncoder(Type.kDutyCycle).getPosition();
   }
   public double getAbsoluteEncoderVelocity() {
     throwIfClosed();
-    return getAlternateEncoder(4096).getVelocity();
+    return getAbsoluteEncoder(Type.kDutyCycle).getVelocity();
   }
 
 

src/main/java/frc/robot/commands/DriveCommand.java

@@ -16,6 +16,8 @@ public class DriveCommand extends CommandBase {
   @SuppressWarnings({ "PMD.UnusedPrivateField", "PMD.SingularField" })
   private final Tank m_drivebase;
 
+  private boolean isFinishedVar = false;
+
 
 
 
@@ -47,9 +49,11 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    // we need to return the value in Constants.isDriveCommandFinished but in a static way while keeping the value non-static in Constants
-    private static final boolean x = Constants.isDriveCommandFinished;
-    return x;
+    return isFinishedVar;
+  }
+
+  public void setFinished(boolean x) {
+    isFinishedVar = x;
   }
 
   @Override

src/main/java/frc/robot/commands/PickUpPieceCommand.java

@@ -0,0 +1,38 @@
+// 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 frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Claw;
+
+public class PickUpPieceCommand extends CommandBase {
+  /** Creates a new PickUpPieceCommand. */
+  private Claw m_Claw;
+  public PickUpPieceCommand(Claw claw) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_Claw = claw;
+    addRequirements(claw);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_Claw.clawMotor.set(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/XTracking.java

@@ -4,42 +4,53 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
 import frc.robot.subsystems.Tank;
+import frc.robot.subsystems.Tracking.Constants;
 import frc.robot.subsystems.Tracking.Target;
-import frc.robot.RobotContainer;
-import frc.robot.commands.*;
+import frc.robot.subsystems.Tracking.Constants.xConstants;
 
-public class XTracking extends CommandBase {
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class XTracking extends PIDCommand {
 
-  private double tx;
-  /** Creates a new XTracking. */
-  public XTracking(Tank tank, Target target) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(tank, target);
-  }
+  private double kp;
+  private double ki;
+  private double kd;
 
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    // stop the DriveCommand
+  public static double kOutput;
 
-  }
+  private static Tank m_tank;
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    tx = Target.getTX();
+  /** Creates a new XTracking. */
+  public XTracking(Tank tank) {
+
+    super(
+        // The controller that the command will use
+        new PIDController(Constants.xConstants.getkP(), Constants.xConstants.getkI(), Constants.xConstants.getkD()),
+        // This should return the measurement
+        Target::getTX,
+        // This should return the setpoint (can also be a constant)
+        () -> Constants.xConstants.getkSetpoint(),
+        // This uses the output
+        output -> {
+          // Use the output here
+          kOutput = output;
+
+          m_tank.arcadeDrive(YTracking.kOutput, output);
+        });
+    addRequirements(tank);
+    m_tank = tank;
+    // Use addRequirements() here to declare subsystem dependencies.
+    // Configure additional PID options by calling `getController` here.
   }
 
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return Constants.xConstants.getLowerBound() < (Target.getTX() - Constants.xConstants.getkSetpoint())
+        && (Target.getTX() - Constants.xConstants.getkSetpoint()) < Constants.xConstants.getUpperBound();
   }
 }

src/main/java/frc/robot/commands/YTracking.java

@@ -0,0 +1,42 @@
+// 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 frc.robot.commands;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import frc.robot.subsystems.Tank;
+import frc.robot.subsystems.Tracking.Constants;
+import frc.robot.subsystems.Tracking.Target;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class YTracking extends PIDCommand {
+  public static double kOutput;
+  /** Creates a new YTracking. */
+  public YTracking() {
+    super(
+        // The controller that the command will use
+        new PIDController(Constants.yConstants.getkP(), Constants.yConstants.getkI(), Constants.yConstants.getkD()),
+        // This should return the measurement
+        Target::getTY,
+        // This should return the setpoint (can also be a constant)
+        () -> Constants.yConstants.getkSetpoint(),
+        // This uses the output
+        output -> {
+          // Use the output here
+          kOutput = output;
+          Tank.arcadeDrive(XTracking.kOutput, output);
+        });
+    // Use addRequirements() here to declare subsystem dependencies.
+    // Configure additional PID options by calling `getController` here.
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Arm.java

@@ -6,6 +6,7 @@
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.REVPhysicsSim;
+import com.revrobotics.SparkMaxAlternateEncoder;
 import com.revrobotics.SparkMaxPIDController;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -41,7 +42,6 @@ public class Arm extends SubsystemBase {
 
   public AbsoluteEncoder encoder;
 
-
   public Arm() {
 
     kP = 0.0001;
@@ -58,6 +58,7 @@ public Arm() {
     armMotor.setIdleMode(IdleMode.kBrake);
     armMotor.setSmartCurrentLimit(30, 40);
     armMotor.burnFlash();
+    // set
     addChild("Arm Motor", armMotor);
 
     armPID = armMotor.getPIDController();
@@ -68,8 +69,12 @@ public Arm() {
     armPID.setIZone(kIz);
     armPID.setFF(kFF);
     armPID.setOutputRange(kMinOutput, kMaxOutput);
+
+    // set the spark max to alternate encoder mode
 
-    AbsoluteEncoder encoder = armMotor.getAbsoluteEncoder(Type.kDutyCycle);
+
+    // configure the data port on top to be used with the REV Through Bore Encoder using the absolute encoder adapter
+    encoder = armMotor.getAbsoluteEncoder(Type.kDutyCycle);
 
     encoderWidget = Shuffleboard.getTab("Motors").add("Arm Encoder", armMotor.getEncoder().getPosition()).getEntry();
 
@@ -99,8 +104,6 @@ public void moveArm(double value) {
     armMotor.set(motorDrive);
   }
 
-
-
   @Override
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation