pull master (#13)

* update to use .runEnd instead of run

this should fix a lot of the auto issues.

* make the green blink a part of the parallel race group

* Update path and autos

* [Dependency] bump wpilib to 2024.3.2

* rename "SmartShootCommand" to "ShootToSpeakerCommand"

This represents what it is about a lot better in my opinion.

* Fix tests by not shutting down the hal in teardown

* close the subsystem after super in basicIntakeTest

* add more comments for explanation

* don't shutdown HAL in DriveSubsystem test base

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "java"
     id "jacoco"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 		id "com.diffplug.spotless" version "6.23.3"
 }
 

src/main/java/frc/robot/RobotContainer.java

@@ -23,8 +23,8 @@
 import frc.robot.commands.BasicIntakeCommand;
 import frc.robot.commands.DefaultDriveCommand;
 import frc.robot.commands.ShootToAmpCommand;
+import frc.robot.commands.ShootToSpeakerCommand;
 import frc.robot.commands.SmartIntakeCommand;
-import frc.robot.commands.SmartShootCommand;
 import frc.robot.commands.led_commands.LEDIdleCommand;
 import frc.robot.simulationSystems.PhotonSim;
 import frc.robot.subsystems.ArmSubsystem;
@@ -58,7 +58,7 @@ public RobotContainer() {
     autoChooser = AutoBuilder.buildAutoChooser();
     autoChooser.addOption(
         "Shoot To Shooter",
-        new SmartShootCommand(shooterSubsystem, intakeSubsystem, armSubsystem, driveSubsystem));
+        new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem, armSubsystem, driveSubsystem));
     PhotonCameraSystem.getAprilTagWithID(0); // Load the class before enable.
     SmartDashboard.putData("Auto Chooser", autoChooser);
     if (RobotBase.isSimulation()) {
@@ -108,7 +108,7 @@ private void setupNamedCommands() {
     NamedCommands.registerCommand("Intake", new BasicIntakeCommand(intakeSubsystem));
     NamedCommands.registerCommand(
         "Shoot To Speaker",
-        new SmartShootCommand(shooterSubsystem, intakeSubsystem, armSubsystem, driveSubsystem));
+        new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem, armSubsystem, driveSubsystem));
     NamedCommands.registerCommand(
         "Shoot To Amp", new ShootToAmpCommand(shooterSubsystem, intakeSubsystem, armSubsystem));
   }
@@ -142,7 +142,7 @@ private void configureJoystickBindings() {
 
     new JoystickButton(controller, Button.kY.value) // Shoot, smart (Fully Shoot)
         .whileTrue(
-            new SmartShootCommand(
+            new ShootToSpeakerCommand(
                 shooterSubsystem,
                 intakeSubsystem,
                 armSubsystem,
@@ -171,7 +171,7 @@ private void configureJoystickBindings() {
         .whileTrue(new RunCommand(() -> shooterSubsystem.setShooterSpeed(-1), shooterSubsystem));
 
     new JoystickButton(controller, Button.kLeftBumper.value)
-        .whileTrue(new SmartShootCommand(shooterSubsystem, intakeSubsystem));
+        .whileTrue(new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem));
 
     new Trigger(() -> controller.getPOV() == 0)
         // Move arm to 0.5, and set it there until the button is released.
@@ -189,10 +189,10 @@ private void configureMidiBindings() {
         .onTrue(armSubsystem.runOnce(armSubsystem::resetEncoder).ignoringDisable(true));
 
     new JoystickButton(midiController, 3)
-        .whileTrue(new SmartShootCommand(shooterSubsystem, intakeSubsystem));
+        .whileTrue(new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem));
 
     new JoystickButton(midiController, 4)
-        .whileTrue(new SmartShootCommand(shooterSubsystem, intakeSubsystem));
+        .whileTrue(new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem));
 
     new JoystickButton(midiController, 16)
         .onTrue(

src/main/java/frc/robot/commands/SmartShootCommand.java → src/main/java/frc/robot/commands/ShootToSpeakerCommand.java

@@ -8,10 +8,10 @@
 import frc.robot.subsystems.ShooterSubsystem;
 import java.util.function.DoubleSupplier;
 
-public class SmartShootCommand extends ParallelRaceGroup {
+public class ShootToSpeakerCommand extends ParallelRaceGroup {
   private static final double waitTime = 2.5;
 
-  public SmartShootCommand(ShooterSubsystem shooterSubsystem, IntakeSubsystem intakeSubsystem) {
+  public ShootToSpeakerCommand(ShooterSubsystem shooterSubsystem, IntakeSubsystem intakeSubsystem) {
     super(
         new SequentialCommandGroup(
             new BasicRunShooterCommand(shooterSubsystem, waitTime),
@@ -20,18 +20,18 @@ public SmartShootCommand(ShooterSubsystem shooterSubsystem, IntakeSubsystem inta
                 new LoadToShooterCommand(intakeSubsystem))));
   }
 
-  public SmartShootCommand(
+  public ShootToSpeakerCommand(
       ShooterSubsystem shooterSubsystem,
       IntakeSubsystem intakeSubsystem,
       ArmSubsystem armSubsystem,
       DriveSubsystem driveSubsystem) {
     super(
         // Constantly move the arm until all the other commands finish.
         new MoveArmToShooterCommand(armSubsystem, driveSubsystem),
-        new SmartShootCommand(shooterSubsystem, intakeSubsystem));
+        new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem));
   }
 
-  public SmartShootCommand(
+  public ShootToSpeakerCommand(
       ShooterSubsystem shooterSubsystem,
       IntakeSubsystem intakeSubsystem,
       ArmSubsystem armSubsystem,
@@ -43,6 +43,6 @@ public SmartShootCommand(
         new MoveArmToShooterCommand(armSubsystem, driveSubsystem),
         new DriveFacingShooter(driveSubsystem, xSpeed, ySpeed),
         // The finishing command will be this one:
-        new SmartShootCommand(shooterSubsystem, intakeSubsystem));
+        new ShootToSpeakerCommand(shooterSubsystem, intakeSubsystem));
   }
 }

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

@@ -220,7 +220,8 @@ private void updatePoseWithVision() {
   }
 
   private Optional<Pose3d> getTagPose(int id) {
-    var tag = PhotonCameraSystem.getFieldLayout().getTagPose(id);
+    var tagField = PhotonCameraSystem.getFieldLayout();
+    var tag = tagField.getTagPose(id);
 
     if (tag.isEmpty()) {
       DriverStation.reportError("Field Layout Couldn't be loaded", false);
@@ -251,13 +252,13 @@ public Rotation2d getRotationDifferenceToShooter() {
     if (tag.isEmpty()) return new Rotation2d();
 
     return tag.get()
-        .getTranslation()
+        .getTranslation() // Get the translation of the tag
         .toTranslation2d()
-        .minus(getPose().getTranslation())
+        .minus(getPose().getTranslation()) // Subtract the robot's translation
         .getAngle()
-        .minus(getRotation2d())
-        .rotateBy(Rotation2d.fromDegrees(180))
-        .times(-1);
+        .minus(getRotation2d()) // Subtract the robot's rotation
+        .rotateBy(Rotation2d.fromDegrees(180)) // Rotate by 180 so the back is 0
+        .times(-1); // Invert the angle, so the back is a positive angle that can be inverted.
   }
 
   public Pose2d getPose() {

src/test/java/command_tests/arm_tests/BasicIntakeTest.java

@@ -35,8 +35,8 @@ public void setUp() {
 
   @AfterEach
   public void tearDown() {
-    intakeSubsystem.close();
     super.tearDown();
+    intakeSubsystem.close();
   }
 
   @Test

src/test/java/command_tests/utils/CommandTestBase.java

@@ -30,6 +30,5 @@ protected void tearDown() {
     commandScheduler.cancelAll();
     commandScheduler.unregisterAllSubsystems(); // ! breaks all test tests if not done
     commandScheduler.close();
-    HAL.shutdown();
   }
 }

src/test/java/subsystem_tests/drive_subsystem_tests/DriveSubsystemTestBase.java

@@ -29,6 +29,5 @@ public void tearDown() {
     commandScheduler.cancelAll();
     commandScheduler.unregisterAllSubsystems(); // ! breaks all test tests if not done
     commandScheduler.close();
-    HAL.shutdown();
   }
 }