Merge branch 'autos-with-autoscore' of https://github.com/team581/off…

…season-2023-charged-up into autos-with-autoscore
team581 · Sep 16, 2023 · 743e53f · 743e53f
2 parents 9db036a + 09bae11
commit 743e53f
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Showing 3 changed files with 41 additions and 46 deletions.
diff --git a/src/main/java/frc/robot/autos/Autos.java b/src/main/java/frc/robot/autos/Autos.java
@@ -125,11 +125,11 @@ public Autos(
                     .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)))),
             Map.entry("scoreHigh", getScoreHighCommand()),
             Map.entry(
-              "yeetMid",
-              superstructure
-                  .getCommand(States.YEET_CUBE_MID)
-                  .withTimeout(1.5)
-                  .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)))),
+                "yeetMid",
+                superstructure
+                    .getCommand(States.YEET_CUBE_MID)
+                    .withTimeout(1.5)
+                    .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)))),
             Map.entry("superstructureLow", superstructure.getManualScoreCommand(NodeHeight.LOW)),
             Map.entry(
                 "superstructureMid",
@@ -242,16 +242,16 @@ private SequentialCommandGroup getScoreHighCommand() {
 
   private SequentialCommandGroup getScoreMidCommand() {
     return superstructure
-    .getScoreCommand(Config.IS_SPIKE ? NodeHeight.MID : NodeHeight.LOW, 0, false)
-    .withTimeout(3)
-    .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)));
+        .getScoreCommand(Config.IS_SPIKE ? NodeHeight.MID : NodeHeight.LOW, 0, false)
+        .withTimeout(3)
+        .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)));
   }
 
   private SequentialCommandGroup getScoreLowCommand() {
     return superstructure
-    .getScoreCommand(NodeHeight.LOW, 0, false)
-    .withTimeout(3)
-    .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)));
+        .getScoreCommand(NodeHeight.LOW, 0, false)
+        .withTimeout(3)
+        .andThen(Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING)));
   }
 
   private Command getPreloadConeCommand() {
@@ -405,8 +405,7 @@ private Command getBlueMid15Balance(List<PathPlannerTrajectory> pathGroup) {
         groundManager.getGroundCone(),
         autoBuilder.followPathWithEvents(pathGroup.get(1)),
         visionManager.getAutoScoreMidCone(),
-        autoBuilder.followPathWithEvents(pathGroup.get(2))
-        );
+        autoBuilder.followPathWithEvents(pathGroup.get(2)));
   }
 
   public void clearCache() {

diff --git a/src/main/java/frc/robot/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/elevator/ElevatorSubsystem.java
@@ -22,8 +22,10 @@
 import org.littletonrobotics.junction.Logger;
 
 public class ElevatorSubsystem extends LifecycleSubsystem {
-  private static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_SAFE = new StatorCurrentLimitConfiguration(true, 80, 100, 1);
-  private static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_UNSAFE = new StatorCurrentLimitConfiguration(false, 80, 100, 1);
+  private static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_SAFE =
+      new StatorCurrentLimitConfiguration(true, 80, 100, 1);
+  private static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_UNSAFE =
+      new StatorCurrentLimitConfiguration(false, 80, 100, 1);
   private static final double HOMING_CURRENT = 5;
   private final TalonFX motor;
   private double goalPositionInInches = Positions.STOWED.height;

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,35 +1,29 @@
 {
-    "fileName": "PathplannerLib.json",
-    "name": "PathplannerLib",
+  "javaDependencies": [{
+    "groupId": "com.pathplanner.lib",
+    "artifactId": "PathplannerLib-java",
+    "version": "2023.4.4"
+  }],
+  "fileName": "PathplannerLib.json",
+  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+  "name": "PathplannerLib",
+  "jniDependencies": [],
+  "mavenUrls": ["https://3015rangerrobotics.github.io/pathplannerlib/repo"],
+  "cppDependencies": [{
+    "groupId": "com.pathplanner.lib",
+    "libName": "PathplannerLib",
+    "artifactId": "PathplannerLib-cpp",
+    "skipInvalidPlatforms": true,
     "version": "2023.4.4",
-    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "mavenUrls": [
-        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    "headerClassifier": "headers",
+    "binaryPlatforms": [
+      "windowsx86-64",
+      "linuxx86-64",
+      "osxuniversal",
+      "linuxathena"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.pathplanner.lib",
-            "artifactId": "PathplannerLib-java",
-            "version": "2023.4.4"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "com.pathplanner.lib",
-            "artifactId": "PathplannerLib-cpp",
-            "version": "2023.4.4",
-            "libName": "PathplannerLib",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal",
-                "linuxathena"
-            ]
-        }
-    ]
+    "sharedLibrary": false
+  }],
+  "version": "2023.4.4",
+  "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786"
 }