Slapdown

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "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
+    }
+  ]
+}

src/main/java/frc/robot/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Dreadbots2026";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 12;
-  public static final String GIT_SHA = "7b13ffa48be066b1546d17fa83b739acae12826e";
-  public static final String GIT_DATE = "2026-01-27 18:12:48 EST";
-  public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2026-01-28 12:56:56 EST";
-  public static final long BUILD_UNIX_TIME = 1769623016280L;
+  public static final int GIT_REVISION = 40;
+  public static final String GIT_SHA = "4c40382dd26c43ed87d2d8efdc9a7018bf93e481";
+  public static final String GIT_DATE = "2026-02-12 16:07:04 EST";
+  public static final String GIT_BRANCH = "Slapdown";
+  public static final String BUILD_DATE = "2026-02-14 10:26:57 EST";
+  public static final long BUILD_UNIX_TIME = 1771082817325L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -15,18 +15,55 @@ public static enum Mode {
         REPLAY
     }
 
-    public static final class AutoAlignConstants {
-    public static final double TRANSLATION_KP = 0.5;
-    public static final double TRANSLATION_KD = 0.0;
-    public static final double TRANSLATION_VELOCITY = 3.5; // Meters/Sec
-    public static final double TRANSLATION_ACCELERATION = 3.5; // Meters/Sec^2
-    public static final double TRANSLATION_JERK = 3.0; // Meters/Sec^3
-    public static final double ROTATION_KP = 2.0;
-    public static final double ROTATION_KD = 0.0;
-    public static final double ROTATION_MAX_VELOCITY = 5.0;
-    public static final double ROTATION_MAX_ACCELERATION = 10.0;
-    public static final double LEFT_REEF_BRANCH_OFFSET = Units.inchesToMeters(11.5 / 2.0);
-    public static final double RIGHT_REEF_BRANCH_OFFSET = Units.inchesToMeters(13.5 / 2.0);
+    public static class IndexerConstants {
+        public static final double INTAKE_VOLTAGE = 1.5;
+        public static final double OUTAKE_VOLTAGE = -5.0;
+        public static final int MOTOR_ID = 1;
+    }
+
+    public static class SlapdownConstants {
+        public static final double INTAKE_VOLTAGE = -5.0;
+        public static final double OUTAKE_VOLTAGE = 5.0;
+        public static final int SLAPDOWN_DUTY_CYCLE_ENCODER = 8;
+        public static final double ENCODER_OFFSET = 108.125;
+        public static final double HOME_ANGLE_DEGREES = 0;
+        public static final double OUTTAKE_ANGLE_DEGREES = 3;
+        public static final double INTAKE_ANGLE_DEGREES = 60.0;
+        public static final double HOLD_ANGLE_DEGREES = 14.0;
+        public static final double MAX_ANGLE_DEGREES = 80.0;
+        public static final double ENCODER_FREQUENCY = 975.6;
+        public static final int INTAKE_MOTOR_ID = 20;
+        public static final int PIVOT_MOTOR_ID = 18;
+
+        public static final double SIM_INTAKE_MOI = 0.00011264;
+        public static final double SIM_PIVOT_MOI = 0.15180934;
 
   }
-}
+
+
+    public static class FlywheelConstants {
+        public static final double SHOOT_VOLTAGE = 3.0;
+        public static final int MOTOR_ID_1 = 13;
+        public static final int MOTOR_ID_2 = 14;
+    }
+
+    public static class ClimbConstants {
+        public static final double INTAKE_VOLTAGE = 1.5;
+        public static final double OUTAKE_VOLTAGE = -1.5;
+        public static final int MOTOR_ID = 1;
+    }
+
+    public static final class AutoAlignConstants {
+        public static final double TRANSLATION_KP = 0.5;
+        public static final double TRANSLATION_KD = 0.0;
+        public static final double TRANSLATION_VELOCITY = 3.5; // Meters/Sec
+        public static final double TRANSLATION_ACCELERATION = 3.5; // Meters/Sec^2
+        public static final double TRANSLATION_JERK = 3.0; // Meters/Sec^3
+        public static final double ROTATION_KP = 2.0;
+        public static final double ROTATION_KD = 0.0;
+        public static final double ROTATION_MAX_VELOCITY = 5.0;
+        public static final double ROTATION_MAX_ACCELERATION = 10.0;
+        public static final double LEFT_REEF_BRANCH_OFFSET = Units.inchesToMeters(11.5 / 2.0);
+        public static final double RIGHT_REEF_BRANCH_OFFSET = Units.inchesToMeters(13.5 / 2.0);
+    }
+}

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

@@ -99,11 +99,6 @@ public void robotPeriodic() {
     Threads.setCurrentThreadPriority(false, 10);
   }
 
-  /** This function is called once when the robot is disabled. */
-  @Override
-  public void disabledInit() {}
-
-  /** This function is called periodically when disabled. */
   @Override
   public void disabledPeriodic() {}
 
@@ -138,7 +133,6 @@ public void teleopInit() {
   @Override
   public void teleopPeriodic() {}
 
-  /** This function is called once when test mode is enabled. */
   @Override
   public void testInit() {
     // Cancels all running commands at the start of test mode.
@@ -156,4 +150,6 @@ public void simulationInit() {}
   /** This function is called periodically whilst in simulation. */
   @Override
   public void simulationPeriodic() {}
+
+
 }