Update swerve module configurations and enhance Manager state management

FRC-7525 · Feb 10, 2025 · 97dd205 · 97dd205
1 parent 70f505c
commit 97dd205
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Showing 9 changed files with 52 additions and 25 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -11,13 +11,17 @@
           "incKey": 83
         },
         {
-          "decKey": 69,
+          "decKey": 71,
           "decayRate": 0.0,
-          "incKey": 82,
+          "incKey": 84,
           "keyRate": 0.009999999776482582
+        },
+        {
+          "decKey": 69,
+          "incKey": 82
         }
       ],
-      "axisCount": 3,
+      "axisCount": 4,
       "buttonCount": 4,
       "buttonKeys": [
         90,
@@ -90,6 +94,7 @@
     }
   ],
   "robotJoysticks": [
+    {},
     {
       "guid": "Keyboard0"
     }

diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": 10.171,
-    "left": -13.878
+    "front": -10.171,
+    "left": 13.878
   },
   "absoluteEncoderOffset": 74.267578125,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": -10.635,
-    "left": -12.796
+    "front": -10.171,
+    "left": -13.878
   },
   "absoluteEncoderOffset": 256.5527,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": 10.822,
-    "left": 11.331
+    "front": 10.171,
+    "left": 13.878
   },
   "absoluteEncoderOffset": 132.5390625,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": -10.822,
-    "left": 13.793
+    "front": 10.171,
+    "left": -13.878
   },
   "absoluteEncoderOffset": 132.5390562,
   "drive": {

diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json
@@ -6,9 +6,9 @@
   },
   "invertedIMU": false,
   "modules": [
-    "backright.json", 
-    "backleft.json", 
-    "frontright.json",
-    "frontleft.json"
+    "frontleft.json", 
+    "frontright.json", 
+    "backright.json",
+    "backleft.json"
   ]
 }
diff --git a/src/main/java/frc/robot/subsystems/Manager/Manager.java b/src/main/java/frc/robot/subsystems/Manager/Manager.java
@@ -133,5 +133,7 @@ public void runState() {
 
 		swerveDrive.updateOdometry();
 		Logger.recordOutput(DASHBOARD_STRING, getState().getStateString());
+		Logger.recordOutput(DASHBOARD_STRING_COLOR, getState().getStateColor());
+
 	}
 }
diff --git a/src/main/java/frc/robot/subsystems/Manager/ManagerConstants.java b/src/main/java/frc/robot/subsystems/Manager/ManagerConstants.java
@@ -4,4 +4,7 @@ public final class ManagerConstants {
 
 	public static final String DASHBOARD_STRING = "Manager";
 	public static final String SUBSYSTEM_NAME = "Manager";
+	public static final String DASHBOARD_STRING_COLOR = "Manager State";
+	public static final String GREEN = "#00FF00";
+	public static final String ORANGE = "#ff8c00";
 }
diff --git a/src/main/java/frc/robot/subsystems/Manager/ManagerStates.java b/src/main/java/frc/robot/subsystems/Manager/ManagerStates.java
@@ -5,90 +5,103 @@
 import frc.robot.subsystems.Climber.ClimberStates;
 import frc.robot.subsystems.Drive.DriveStates;
 import org.team7525.subsystem.SubsystemStates;
+import static frc.robot.subsystems.Manager.ManagerConstants.*;
 
 public enum ManagerStates implements SubsystemStates {
 	IDLE(
 		"IDLE",
 		AlgaeCorralerStates.IDLE,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		GREEN
 	),
 	CORAL_OUT(
 		"CORAL OUT",
 		AlgaeCorralerStates.CORALOUT,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		GREEN
 	),
 	ALGAE_IN(
 		"ALGAE IN",
 		AlgaeCorralerStates.ALGAEIN,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		GREEN
 	),
 	HOLDING(
 		"HOLDING",
 		AlgaeCorralerStates.HOLDING,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		ORANGE
 	),
 	ALGAE_OUT(
 		"ALGAE OUT",
 		AlgaeCorralerStates.ALGAEOUT,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		GREEN
 	),
 	CLIMBING(
 		"CLIMBING",
 		AlgaeCorralerStates.IDLE,
 		ClimberStates.ON,
 		AutoAlignerStates.OFF,
-		DriveStates.MANUAL
+		DriveStates.MANUAL,
+		GREEN
 	),
 	AUTO_ALIGNING_REEF(
 		"AUTO_ALIGNING_REEF",
 		AlgaeCorralerStates.IDLE,
 		ClimberStates.IDLE,
 		AutoAlignerStates.NEAREST_REEF,
-		DriveStates.AUTO_ALIGNING
+		DriveStates.AUTO_ALIGNING,
+		GREEN
 	),
 	AUTO_ALIGNING_FEEDER(
 		"AUTO_ALIGNING_FEEDER",
 		AlgaeCorralerStates.IDLE,
 		ClimberStates.IDLE,
 		AutoAlignerStates.NEAREST_FEEDER,
-		DriveStates.AUTO_ALIGNING
+		DriveStates.AUTO_ALIGNING,
+		GREEN
 	),
 	LOCKED(
 		"LOCKED",
 		AlgaeCorralerStates.IDLE,
 		ClimberStates.IDLE,
 		AutoAlignerStates.OFF,
-		DriveStates.LOCKED
+		DriveStates.LOCKED,
+		GREEN
 	);
 
 	private String stateString;
 	private AlgaeCorralerStates algaeCorraler;
 	private ClimberStates climber;
 	private AutoAlignerStates autoAlign;
 	private DriveStates drive;
+	private String stateColor;
 
 	ManagerStates(
 		String stateString,
 		AlgaeCorralerStates algaeCorraler,
 		ClimberStates climber,
 		AutoAlignerStates autoAlign,
-		DriveStates drive
+		DriveStates drive,
+		String stateColor
 	) {
 		this.stateString = stateString;
 		this.algaeCorraler = algaeCorraler;
 		this.climber = climber;
 		this.autoAlign = autoAlign;
 		this.drive = drive;
+		this.stateColor = stateColor;
 	}
 
 	@Override
@@ -111,4 +124,8 @@ public AutoAlignerStates getAutoAligner() {
 	public DriveStates getDrive() {
 		return drive;
 	}
+
+	public String getStateColor() {
+		return stateColor;
+	}
 }