Documentation Updates

.github/dependabot.yml

@@ -27,3 +27,4 @@ updates:
       interval: "weekly"
     ignore:
       - dependency-name: "gradle"
+      - dependency-name: "gradle-wrapper"

doc/INSTALL.md

@@ -118,7 +118,10 @@ steps you need to complete:
    https://github.com/CrossTheRoadElec/Phoenix6-Examples/blob/1db713d75b08a4315c9273cebf5b5e6a130ed3f7/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java#L171-L175).
    Before removing them, both lines will be marked as errors in VSCode.
 
-5. In `TunerConstants.java`, change `kSteerInertia` to `0.004` and
+5. In `TunerConstants.java`, change `kSlipCurrent` to `60` amps.  This will
+   keep your robot from tearing holes in the carpet at competition!
+
+6. In `TunerConstants.java`, change `kSteerInertia` to `0.004` and
    `kDriveInertia` to `0.025` to allow the AdvantageKit simulation code to
    operate as expected.
 

doc/RBSI-GSG.md

@@ -41,6 +41,10 @@ modifications to extant RBSI code will be done to files within the
 
 ### Tuning constants for optimal performance
 
+**It cannot be overemphasized the importance of tuning your drivetrain for
+smooth and consistent performance, battery longevity, and not tearing up the
+field.**
+
 4. Over the course of your robot project, you will need to tune PID parameters
    for both your drivebase and any mechanisms you build to play the game.
    AdvantageKit includes detailed instructions for how to tune the various
@@ -132,3 +136,18 @@ section of [each release](https://github.com/AZ-First/Az-RBSI/releases).
 
    Mounting the case to the robot requires 4x #10-32 nylock nuts (placed in the
    hex-shaped mounts inside the case) and 4x #10-32 bolts.
+
+   Order of addembly of the Orange Pi Double Case matters given tight clearances:
+   1. Super-glue the nylock nuts into the hex mounting holes.
+   2. Intall the fans and grates into the case side.
+   3. Assemble the Pi's into the standoffs outside the box.
+   4. Solder / mount the Voltage Regular solution of your choice.
+   5. Connect the USB-C power cables to the Pi's.
+   6. Connect the fan power to the 5V (red) and GND (black) pins in the Pi's.
+   7. Install the Pi/standoff assembly into the case using screws at the bottom,
+      be careful of the tight clearance between the USB sockets and the case opening.
+   8. Tie a knot in the incoing power line _to be placed inside the box
+      for strain relief_, and pass the incoming power line through the notch
+      in the lower case.
+   9. Install the cover on the box using screws.
+   10. Mount the case to your robot using the #10-32 screws.

src/main/java/frc/robot/Constants.java

@@ -164,8 +164,10 @@ public static final class PowerConstants {
   /************************************************************************* */
   /** List of Robot CAN Busses ********************************************* */
   public static final class CANBuses {
-    public static final String DRIVE = "DriveTrain";
     public static final String RIO = "";
+    public static final String DRIVE = "DriveTrain";
+
+    public static final String[] ALL = {RIO, DRIVE};
   }
 
   /************************************************************************* */
@@ -178,30 +180,30 @@ public static class RobotDevices {
 
     // Front Left
     public static final RobotDeviceId FL_DRIVE =
-        new RobotDeviceId(SwerveConstants.kFLDriveMotorId, SwerveConstants.kFLDriveCanbus, 18);
+        new RobotDeviceId(SwerveConstants.kFLDriveMotorId, SwerveConstants.kFLDriveCanbus, 16);
     public static final RobotDeviceId FL_ROTATION =
-        new RobotDeviceId(SwerveConstants.kFLSteerMotorId, SwerveConstants.kFLSteerCanbus, 19);
+        new RobotDeviceId(SwerveConstants.kFLSteerMotorId, SwerveConstants.kFLSteerCanbus, 17);
     public static final RobotDeviceId FL_CANCODER =
         new RobotDeviceId(SwerveConstants.kFLEncoderId, SwerveConstants.kFLEncoderCanbus, null);
     // Front Right
     public static final RobotDeviceId FR_DRIVE =
-        new RobotDeviceId(SwerveConstants.kFRDriveMotorId, SwerveConstants.kFRDriveCanbus, 17);
+        new RobotDeviceId(SwerveConstants.kFRDriveMotorId, SwerveConstants.kFRDriveCanbus, 13);
     public static final RobotDeviceId FR_ROTATION =
-        new RobotDeviceId(SwerveConstants.kFRSteerMotorId, SwerveConstants.kFRSteerCanbus, 16);
+        new RobotDeviceId(SwerveConstants.kFRSteerMotorId, SwerveConstants.kFRSteerCanbus, 12);
     public static final RobotDeviceId FR_CANCODER =
         new RobotDeviceId(SwerveConstants.kFREncoderId, SwerveConstants.kFREncoderCanbus, null);
     // Back Left
     public static final RobotDeviceId BL_DRIVE =
-        new RobotDeviceId(SwerveConstants.kBLDriveMotorId, SwerveConstants.kBLDriveCanbus, 1);
+        new RobotDeviceId(SwerveConstants.kBLDriveMotorId, SwerveConstants.kBLDriveCanbus, 2);
     public static final RobotDeviceId BL_ROTATION =
-        new RobotDeviceId(SwerveConstants.kBLSteerMotorId, SwerveConstants.kBLSteerCanbus, 0);
+        new RobotDeviceId(SwerveConstants.kBLSteerMotorId, SwerveConstants.kBLSteerCanbus, 3);
     public static final RobotDeviceId BL_CANCODER =
         new RobotDeviceId(SwerveConstants.kBLEncoderId, SwerveConstants.kBLEncoderCanbus, null);
     // Back Right
     public static final RobotDeviceId BR_DRIVE =
-        new RobotDeviceId(SwerveConstants.kBRDriveMotorId, SwerveConstants.kBRSteerCanbus, 2);
+        new RobotDeviceId(SwerveConstants.kBRDriveMotorId, SwerveConstants.kBRSteerCanbus, 7);
     public static final RobotDeviceId BR_ROTATION =
-        new RobotDeviceId(SwerveConstants.kBRSteerMotorId, SwerveConstants.kBRSteerCanbus, 3);
+        new RobotDeviceId(SwerveConstants.kBRSteerMotorId, SwerveConstants.kBRSteerCanbus, 6);
     public static final RobotDeviceId BR_CANCODER =
         new RobotDeviceId(SwerveConstants.kBREncoderId, SwerveConstants.kBREncoderCanbus, null);
     // Pigeon
@@ -317,7 +319,7 @@ public static final class DrivebaseConstants {
     public static final double kDriveD = 0.03;
     public static final double kDriveV = 0.83;
     public static final double kDriveA = 0.0;
-    public static final double kDriveS = 0.21;
+    public static final double kDriveS = 2.00;
     public static final double kDriveT =
         SwerveConstants.kDriveGearRatio / DCMotor.getKrakenX60Foc(1).KtNMPerAmp;
     public static final double kSteerP = 400.0;
@@ -439,61 +441,55 @@ public static class VisionConstants {
 
   /************************************************************************* */
   /** Vision Camera Posses ************************************************* */
-  public static class Cameras {
-    // Camera names, must match names configured on coprocessor
-    public static String camera0Name = "camera_0";
-    public static String camera1Name = "camera_1";
-    // ... And more, if needed
-
-    // Robot to camera transforms
+  public static final class Cameras {
+    public record CameraConfig(
+        String name,
+        Transform3d robotToCamera,
+        double stdDevFactor,
+        SimCameraProperties simProps) {}
+
+    // Camera Configuration Records
     // (ONLY USED FOR PHOTONVISION -- Limelight: configure in web UI instead)
     // Example Cameras are mounted in the back corners, 18" up from the floor, facing sideways
-    public static Transform3d robotToCamera0 =
-        new Transform3d(
-            Inches.of(-13.0),
-            Inches.of(13.0),
-            Inches.of(12.0),
-            new Rotation3d(0.0, 0.0, Math.PI / 2));
-    public static Transform3d robotToCamera1 =
-        new Transform3d(
-            Inches.of(-13.0),
-            Inches.of(-13.0),
-            Inches.of(12.0),
-            new Rotation3d(0.0, 0.0, -Math.PI / 2));
-
-    // Standard deviation multipliers for each camera
-    // (Adjust to trust some cameras more than others)
-    public static double[] cameraStdDevFactors =
-        new double[] {
-          1.0, // Camera 0
-          1.0 // Camera 1
-        };
-  }
-
-  /************************************************************************* */
-  /** Simulation Camera Properties ***************************************** */
-  public static class SimCameras {
-    public static final SimCameraProperties kSimCamera1Props =
-        new SimCameraProperties() {
-          {
-            setCalibration(1280, 800, Rotation2d.fromDegrees(120));
-            setCalibError(0.25, 0.08);
-            setFPS(30);
-            setAvgLatencyMs(20);
-            setLatencyStdDevMs(5);
-          }
-        };
-
-    public static final SimCameraProperties kSimCamera2Props =
-        new SimCameraProperties() {
-          {
-            setCalibration(1280, 800, Rotation2d.fromDegrees(120));
-            setCalibError(0.25, 0.08);
-            setFPS(30);
-            setAvgLatencyMs(20);
-            setLatencyStdDevMs(5);
-          }
-        };
+    public static final CameraConfig[] ALL = {
+      new CameraConfig(
+          "camera_0",
+          new Transform3d(
+              Inches.of(-13.0),
+              Inches.of(13.0),
+              Inches.of(12.0),
+              new Rotation3d(0.0, 0.0, Math.PI / 2)),
+          1.0,
+          new SimCameraProperties() {
+            {
+              setCalibration(1280, 800, Rotation2d.fromDegrees(120));
+              setCalibError(0.25, 0.08);
+              setFPS(30);
+              setAvgLatencyMs(20);
+              setLatencyStdDevMs(5);
+            }
+          }),
+      //
+      new CameraConfig(
+          "camera_1",
+          new Transform3d(
+              Inches.of(-13.0),
+              Inches.of(-13.0),
+              Inches.of(12.0),
+              new Rotation3d(0.0, 0.0, -Math.PI / 2)),
+          1.0,
+          new SimCameraProperties() {
+            {
+              setCalibration(1280, 800, Rotation2d.fromDegrees(120));
+              setCalibError(0.25, 0.08);
+              setFPS(30);
+              setAvgLatencyMs(20);
+              setLatencyStdDevMs(5);
+            }
+          }),
+
+      // ... And more, if needed
+    };
   }
 
   /************************************************************************* */

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

@@ -18,9 +18,6 @@
 package frc.robot;
 
 import com.revrobotics.util.StatusLogger;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Threads;
 import edu.wpi.first.wpilibj.Timer;
@@ -38,7 +35,6 @@
 import org.littletonrobotics.urcl.URCL;
 import org.photonvision.PhotonCamera;
 import org.photonvision.simulation.PhotonCameraSim;
-import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.simulation.VisionSystemSim;
 
 /**
@@ -285,31 +281,32 @@ public void testPeriodic() {}
   /** This function is called once when the robot is first started up. */
   @Override
   public void simulationInit() {
-    visionSim = new VisionSystemSim("main");
-
-    // Load AprilTag field layout
-    AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
-
-    // Register AprilTags with vision simulation
-    visionSim.addAprilTags(fieldLayout);
-
-    // Simulated Camera Properties
-    SimCameraProperties cameraProp = new SimCameraProperties();
-    // A 1280 x 800 camera with a 100 degree diagonal FOV.
-    cameraProp.setCalibration(1280, 800, Rotation2d.fromDegrees(100));
-    // Approximate detection noise with average and standard deviation error in pixels.
-    cameraProp.setCalibError(0.25, 0.08);
-    // Set the camera image capture framerate (Note: this is limited by robot loop rate).
-    cameraProp.setFPS(20);
-    // The average and standard deviation in milliseconds of image data latency.
-    cameraProp.setAvgLatencyMs(35);
-    cameraProp.setLatencyStdDevMs(5);
-
-    // Define Cameras and add to simulation
-    PhotonCamera camera0 = new PhotonCamera("frontCam");
-    PhotonCamera camera1 = new PhotonCamera("backCam");
-    visionSim.addCamera(new PhotonCameraSim(camera0, cameraProp), Constants.Cameras.robotToCamera0);
-    visionSim.addCamera(new PhotonCameraSim(camera1, cameraProp), Constants.Cameras.robotToCamera1);
+    // ---------------- SIM-ONLY: vision simulation world + camera sims ----------------
+    // 1) Create the vision simulation world
+    visionSim = new VisionSystemSim("CameraSweepWorld");
+
+    // 2) Add AprilTags (field layout)
+    visionSim.addAprilTags(FieldConstants.aprilTagLayout);
+
+    // 3) Build PhotonCameraSim objects from Constants camera configs
+    final Constants.Cameras.CameraConfig[] camConfigs = Constants.Cameras.ALL;
+
+    PhotonCameraSim[] simCams = new PhotonCameraSim[camConfigs.length];
+
+    for (int i = 0; i < camConfigs.length; i++) {
+      final var cfg = camConfigs[i];
+
+      // Name must match the VisionIOPhotonVisionSim name
+      PhotonCamera photonCam = new PhotonCamera(cfg.name());
+
+      // 2026 API: wrap camera with sim properties from Constants
+      PhotonCameraSim camSim = new PhotonCameraSim(photonCam, cfg.simProps());
+
+      // Register camera with the sim using the robot-to-camera transform
+      visionSim.addCamera(camSim, cfg.robotToCamera());
+
+      simCams[i] = camSim;
+    }
   }
 
   /** This function is called periodically whilst in simulation. */