Swerve Auto + Sim + Commands

.gitignore

@@ -177,5 +177,4 @@ logs/
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
 
-
 src/main/java/frc/robot/BuildConstants.java

.vscode/settings.json

@@ -28,6 +28,7 @@
   "java.test.defaultConfig": "WPIlibUnitTests",
   "java.compile.nullAnalysis.mode": "automatic",
   "cSpell.words": [
-    "odometry"
+    "odometry",
+    "telemeterize"
   ]
 }

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,100 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    },
+    {
+      "guid": "Keyboard1"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,31 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Pose": "Field2d",
+      "/SmartDashboard/Module 0": "Mechanism2d",
+      "/SmartDashboard/Module 1": "Mechanism2d",
+      "/SmartDashboard/Module 2": "Mechanism2d",
+      "/SmartDashboard/Module 3": "Mechanism2d"
+    }
+  },
+  "NetworkTables": {
+    "Persistent Values": {
+      "open": false
+    },
+    "transitory": {
+      "Drive": {
+        "open": true
+      },
+      "Pose": {
+        "double[]##v_/Pose/robotPose": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -4,70 +4,70 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.littletonrobotics.junction.LoggedRobot;
 
-public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
+public class Robot extends LoggedRobot {
+    private Command m_autonomousCommand;
 
-  private RobotContainer m_robotContainer;
+    private RobotContainer m_robotContainer;
 
-  @Override
-  public void robotInit() {
-    m_robotContainer = new RobotContainer();
-  }
+    @Override
+    public void robotInit() {
+        m_robotContainer = new RobotContainer();
+    }
 
-  @Override
-  public void robotPeriodic() {
-    CommandScheduler.getInstance().run();
-  }
+    @Override
+    public void robotPeriodic() {
+        CommandScheduler.getInstance().run();
+    }
 
-  @Override
-  public void disabledInit() {}
+    @Override
+    public void disabledInit() {}
 
-  @Override
-  public void disabledPeriodic() {}
+    @Override
+    public void disabledPeriodic() {}
 
-  @Override
-  public void disabledExit() {}
+    @Override
+    public void disabledExit() {}
 
-  @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    @Override
+    public void autonomousInit() {
+        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.schedule();
+        }
     }
-  }
 
-  @Override
-  public void autonomousPeriodic() {}
+    @Override
+    public void autonomousPeriodic() {}
 
-  @Override
-  public void autonomousExit() {}
+    @Override
+    public void autonomousExit() {}
 
-  @Override
-  public void teleopInit() {
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
+    @Override
+    public void teleopInit() {
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.cancel();
+        }
     }
-  }
 
-  @Override
-  public void teleopPeriodic() {}
+    @Override
+    public void teleopPeriodic() {}
 
-  @Override
-  public void teleopExit() {}
+    @Override
+    public void teleopExit() {}
 
-  @Override
-  public void testInit() {
-    CommandScheduler.getInstance().cancelAll();
-  }
+    @Override
+    public void testInit() {
+        CommandScheduler.getInstance().cancelAll();
+    }
 
-  @Override
-  public void testPeriodic() {}
+    @Override
+    public void testPeriodic() {}
 
-  @Override
-  public void testExit() {}
+    @Override
+    public void testExit() {}
 }

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

@@ -6,15 +6,27 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
+import frc.robot.constants.PhoenixDriveConstants;
+import frc.robot.subsystems.drive.PhoenixDrive;
+import frc.robot.subsystems.drive.commands.DriveWithJoysticks;
 
 public class RobotContainer {
-  public RobotContainer() {
-    configureBindings();
-  }
+    PhoenixDrive drive = PhoenixDriveConstants.DriveTrain;
+    Telemetry logger = new Telemetry(6);
+    CommandJoystick leftJoystick = new CommandJoystick(0);
+    CommandJoystick rightJoystick = new CommandJoystick(1);
 
-  private void configureBindings() {}
+    public RobotContainer() {
+        configureBindings();
+    }
 
-  public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
-  }
+    private void configureBindings() {
+        drive.registerTelemetry(logger::telemeterize);
+        drive.setDefaultCommand(new DriveWithJoysticks(drive, leftJoystick, rightJoystick));
+    }
+
+    public Command getAutonomousCommand() {
+        return Commands.print("No autonomous command configured");
+    }
 }