From 3bd78149b6e460371028f88477dbd6b10a2aac17 Mon Sep 17 00:00:00 2001 From: EJainDev Date: Wed, 25 Mar 2026 19:13:16 -0400 Subject: [PATCH 1/4] Update schematic --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 3 +- src/main/java/frc/robot/Schematic.java | 36 ++++++++------------- 3 files changed, 17 insertions(+), 24 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 922aca595..58fb36e35 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,7 +9,7 @@ public class Constants { // Change this temporarily to override the RobotType, e.g. RobotType.ROBOT_SIMBOT - private static final RobotType ROBOT_TYPE_OVERRIDE = null; + private static final RobotType ROBOT_TYPE_OVERRIDE = RobotType.ROBOT_SIMBOT; public static final boolean tuningMode = false; private static final String ROBOT_FILENAME = "/home/lvuser/robot"; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index be8ea5a51..fdde9e04f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -379,7 +379,8 @@ private void configureButtonBindings() { .toggleOnTrue(orchestrator.spinUpShooterHub()); operatorController.leftTrigger(0.1).toggleOnTrue(orchestrator.spinUpShooterTest()); operatorController.y().whileTrue(indexer.reverse()); - operatorController.x().whileTrue(intake.outtake()); +// operatorController.x().whileTrue(intake.outtake()); + operatorController .leftTrigger() diff --git a/src/main/java/frc/robot/Schematic.java b/src/main/java/frc/robot/Schematic.java index 9f4449875..289e16eda 100644 --- a/src/main/java/frc/robot/Schematic.java +++ b/src/main/java/frc/robot/Schematic.java @@ -28,8 +28,6 @@ public class Schematic { // indexer subsystem public static final int indexerFeedupCanId; - public static final int indexerLeftLimitSwitchDIO; - public static final int indexerRightLimitSwitchDIO; // intake subsystem public static final int intakeMotorCanId; @@ -71,8 +69,6 @@ public class Schematic { // Indexer (CAN IDs and DIOs) indexerFeedupCanId = 0; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 0; // Intake (CAN IDs) intakeMotorCanId = 0; @@ -87,20 +83,20 @@ public class Schematic { pigeonCanId = 17; // Drive (CAN Ids) - frontLeftDriveCanId = 3; - frontLeftTurnCanId = 4; - frontRightDriveCanId = 1; - frontRightTurnCanId = 2; - - backRightDriveCanId = 7; - backRightTurnCanId = 8; - backLeftDriveCanId = 5; - backLeftTurnCanId = 6; - - frontLeftAbsoluteEncoderCanId = 19; - frontRightAbsoluteEncoderCanId = 18; - backRightAbsoluteEncoderCanId = 20; - backLeftAbsoluteEncoderCanId = 21; + frontLeftDriveCanId = 1; + frontLeftTurnCanId = 2; + frontRightDriveCanId = 3; + frontRightTurnCanId = 4; + + backRightDriveCanId = 5; + backRightTurnCanId = 6; + backLeftDriveCanId = 7; + backLeftTurnCanId = 8; + + frontLeftAbsoluteEncoderCanId = 18; + frontRightAbsoluteEncoderCanId = 19; + backRightAbsoluteEncoderCanId = 21; + backLeftAbsoluteEncoderCanId = 20; // Shooter (CAN Ids) shooterTopMotorCanId = 11; @@ -112,8 +108,6 @@ public class Schematic { // Indexer (CAN Ids) indexerFeedupCanId = 9; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 2; // Intake (CAN IDs) intakeMotorCanId = 23; @@ -152,8 +146,6 @@ public class Schematic { // Indexer (CAN IDs and DIOs) indexerFeedupCanId = 0; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 2; // Intake (CAN IDs) intakeMotorCanId = 0; From 029ba86ada5a9317660244b68e015966954f55ee Mon Sep 17 00:00:00 2001 From: EJainDev Date: Wed, 25 Mar 2026 19:18:00 -0400 Subject: [PATCH 2/4] Format --- src/main/java/frc/robot/RobotContainer.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 1b1452e4e..a42f0bbc1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -376,8 +376,7 @@ private void configureButtonBindings() { .toggleOnTrue(orchestrator.spinUpShooterHub()); operatorController.leftTrigger(0.1).toggleOnTrue(orchestrator.spinUpShooterTest()); operatorController.y().whileTrue(indexer.reverse()); -// operatorController.x().whileTrue(intake.outtake()); - + // operatorController.x().whileTrue(intake.outtake()); operatorController .leftTrigger() From 1bced51049bf1f806ffec4eade492e58a92eb03d Mon Sep 17 00:00:00 2001 From: EJainDev Date: Fri, 3 Apr 2026 21:35:03 -0400 Subject: [PATCH 3/4] Fix CANcoder matching. --- src/main/java/frc/robot/Schematic.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Schematic.java b/src/main/java/frc/robot/Schematic.java index 4a40c201d..38d064911 100644 --- a/src/main/java/frc/robot/Schematic.java +++ b/src/main/java/frc/robot/Schematic.java @@ -95,8 +95,8 @@ public class Schematic { frontLeftAbsoluteEncoderCanId = 18; frontRightAbsoluteEncoderCanId = 19; - backRightAbsoluteEncoderCanId = 21; - backLeftAbsoluteEncoderCanId = 20; + backRightAbsoluteEncoderCanId = 20; + backLeftAbsoluteEncoderCanId = 21; // Shooter (CAN Ids) shooterTopMotorCanId = 11; From 9f1d70b11bd065e1a045d7f73917c9bb2a402fee Mon Sep 17 00:00:00 2001 From: EJainDev Date: Fri, 3 Apr 2026 22:38:34 -0400 Subject: [PATCH 4/4] Change to a regular robot instead of simbot. --- src/main/java/frc/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 58fb36e35..922aca595 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,7 +9,7 @@ public class Constants { // Change this temporarily to override the RobotType, e.g. RobotType.ROBOT_SIMBOT - private static final RobotType ROBOT_TYPE_OVERRIDE = RobotType.ROBOT_SIMBOT; + private static final RobotType ROBOT_TYPE_OVERRIDE = null; public static final boolean tuningMode = false; private static final String ROBOT_FILENAME = "/home/lvuser/robot";