From 0bb80fe361777c7f5a0621b1fdae975721e4b63f Mon Sep 17 00:00:00 2001
From: Dan Josh <95506168+ddjoshua01@users.noreply.github.com>
Date: Sun, 6 Oct 2024 15:11:59 -0600
Subject: [PATCH 1/2] Slew Rates, Zero Swerve, and Button Bindings

---
 .DS_Store                                     | Bin 6148 -> 6148 bytes
 .gradle/8.0/checksums/checksums.lock          | Bin 0 -> 17 bytes
 .gradle/8.0/fileChanges/last-build.bin        | Bin 0 -> 1 bytes
 .gradle/8.0/fileHashes/fileHashes.lock        | Bin 0 -> 17 bytes
 .gradle/8.0/gc.properties                     |   0
 .gradle/8.5/checksums/checksums.lock          | Bin 0 -> 17 bytes
 .gradle/8.5/checksums/sha1-checksums.bin      | Bin 0 -> 18983 bytes
 .../dependencies-accessors.lock               | Bin 0 -> 17 bytes
 .../8.5/dependencies-accessors/gc.properties  |   0
 .../8.5/executionHistory/executionHistory.bin | Bin 0 -> 120407 bytes
 .../executionHistory/executionHistory.lock    | Bin 0 -> 17 bytes
 .gradle/8.5/fileChanges/last-build.bin        | Bin 0 -> 1 bytes
 .gradle/8.5/fileHashes/fileHashes.bin         | Bin 0 -> 25247 bytes
 .gradle/8.5/fileHashes/fileHashes.lock        | Bin 0 -> 17 bytes
 .../8.5/fileHashes/resourceHashesCache.bin    | Bin 0 -> 23019 bytes
 .gradle/8.5/gc.properties                     |   0
 .../buildOutputCleanup.lock                   | Bin 0 -> 17 bytes
 .gradle/buildOutputCleanup/cache.properties   |   2 ++
 .gradle/buildOutputCleanup/outputFiles.bin    | Bin 0 -> 20207 bytes
 .gradle/file-system.probe                     | Bin 0 -> 8 bytes
 .gradle/vcs-1/gc.properties                   |   0
 src/main/java/frc/robot/RobotContainer.java   |  18 +++++++++---------
 .../robot/constants/DrivetrainConstants.java  |  12 ++++++------
 23 files changed, 17 insertions(+), 15 deletions(-)
 create mode 100644 .gradle/8.0/checksums/checksums.lock
 create mode 100644 .gradle/8.0/fileChanges/last-build.bin
 create mode 100644 .gradle/8.0/fileHashes/fileHashes.lock
 create mode 100644 .gradle/8.0/gc.properties
 create mode 100644 .gradle/8.5/checksums/checksums.lock
 create mode 100644 .gradle/8.5/checksums/sha1-checksums.bin
 create mode 100644 .gradle/8.5/dependencies-accessors/dependencies-accessors.lock
 create mode 100644 .gradle/8.5/dependencies-accessors/gc.properties
 create mode 100644 .gradle/8.5/executionHistory/executionHistory.bin
 create mode 100644 .gradle/8.5/executionHistory/executionHistory.lock
 create mode 100644 .gradle/8.5/fileChanges/last-build.bin
 create mode 100644 .gradle/8.5/fileHashes/fileHashes.bin
 create mode 100644 .gradle/8.5/fileHashes/fileHashes.lock
 create mode 100644 .gradle/8.5/fileHashes/resourceHashesCache.bin
 create mode 100644 .gradle/8.5/gc.properties
 create mode 100644 .gradle/buildOutputCleanup/buildOutputCleanup.lock
 create mode 100644 .gradle/buildOutputCleanup/cache.properties
 create mode 100644 .gradle/buildOutputCleanup/outputFiles.bin
 create mode 100644 .gradle/file-system.probe
 create mode 100644 .gradle/vcs-1/gc.properties

diff --git a/.DS_Store b/.DS_Store
index a294fe1806d4921b9c6e3ace739b1ad8ce062366..69a5ceef3aadc6b3df69d85af8b6c5e4785d438c 100644
GIT binary patch
delta 56
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delta 126
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diff --git a/.gradle/8.0/checksums/checksums.lock b/.gradle/8.0/checksums/checksums.lock
new file mode 100644
index 0000000000000000000000000000000000000000..4ddf705e0c980d474d14cd7864f0f4f16f38db06
GIT binary patch
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diff --git a/.gradle/8.0/fileChanges/last-build.bin b/.gradle/8.0/fileChanges/last-build.bin
new file mode 100644
index 0000000000000000000000000000000000000000..f76dd238ade08917e6712764a16a22005a50573d
GIT binary patch
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diff --git a/.gradle/8.0/fileHashes/fileHashes.lock b/.gradle/8.0/fileHashes/fileHashes.lock
new file mode 100644
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GIT binary patch
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diff --git a/.gradle/8.0/gc.properties b/.gradle/8.0/gc.properties
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new file mode 100644
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GIT binary patch
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HcmV?d00001

diff --git a/.gradle/8.5/checksums/sha1-checksums.bin b/.gradle/8.5/checksums/sha1-checksums.bin
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GIT binary patch
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diff --git a/.gradle/8.5/dependencies-accessors/gc.properties b/.gradle/8.5/dependencies-accessors/gc.properties
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diff --git a/.gradle/8.5/gc.properties b/.gradle/8.5/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
new file mode 100644
index 0000000000000000000000000000000000000000..cf21ed5b29d74a9a54fee5b23c5218338e9253d3
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diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000..99b9473
--- /dev/null
+++ b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Mon Sep 30 15:02:48 MDT 2024
+gradle.version=8.5
diff --git a/.gradle/buildOutputCleanup/outputFiles.bin b/.gradle/buildOutputCleanup/outputFiles.bin
new file mode 100644
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diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
new file mode 100644
index 0000000000000000000000000000000000000000..cf0a5e6ff1771ca8087b09b25ec4ab20fe1a8290
GIT binary patch
literal 8
PcmZQzV4RfHwOR-O2X+EI

literal 0
HcmV?d00001

diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index da820b0..f876479 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -82,18 +82,18 @@ public void configureButtonBindings() {
 
     swerveSubsystem.setDefaultCommand(new DriveCommands(
             swerveSubsystem,
-            () -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
-            () -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar,
-            () -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar,
+            () -> Math.pow(primaryController.getLeftY(), 2)/1.5 * DrivetrainConstants.drivingSpeedScalar * primaryController.getLeftY()/Math.abs(primaryController.getLeftY()),
+            () -> Math.pow(primaryController.getLeftX(), 2)/1.5 * DrivetrainConstants.drivingSpeedScalar * primaryController.getLeftX()/Math.abs(primaryController.getLeftX()),
+            () -> Math.pow(primaryController.getRightX(), 2)/1.5 * DrivetrainConstants.rotationSpeedScalar * primaryController.getRightY()/Math.abs(primaryController.getRightY()),
             true,
             true
     ));
 
     new JoystickButton(primaryController, XboxController.Button.kRightBumper.value).whileTrue(
             new DriveCommands(swerveSubsystem,
-                    () -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar / 2.5,
-                    () -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar / 2.5,
-                    () -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar / 2.5,
+                    () -> Math.pow(primaryController.getLeftY(), 2) * DrivetrainConstants.drivingSpeedScalar / 4.5 * Math.signum(primaryController.getLeftY()),
+                    () -> Math.pow(primaryController.getLeftX(), 2) * DrivetrainConstants.drivingSpeedScalar / 4.5 * Math.signum(primaryController.getLeftX()),
+                    () -> Math.pow(primaryController.getRightX(), 2) * DrivetrainConstants.rotationSpeedScalar / 4.5 * Math.signum(primaryController.getRightY()),
                     true,
                     true
             )
@@ -107,7 +107,7 @@ public void configureButtonBindings() {
             new RunCommand(() -> swerveSubsystem.zeroGyroAndOdometry())
     );
 //
-    new JoystickButton(primaryController, XboxController.Button.kX.value).whileTrue(
+    new POVButton(secondaryController, 270).whileTrue(
             new RotateToSpeakerAndDriveCommand(
                     swerveSubsystem,
                     () -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
@@ -241,11 +241,11 @@ public void configureButtonBindings() {
 //    );
 
     new POVButton(secondaryController, 0).whileTrue(
-            new RunCommand(() -> shooterSubsystem.setSpeed(1000))
+            new RunCommand(() -> shooterSubsystem.setSpeed(3500))
     ).whileFalse(
             new RunCommand(() -> shooterSubsystem.setSpeed(0))
     );
-
+//Please let me PR GitHub
 //
 //    new JoystickButton(secondaryController, XboxController.Button.kX.value).whileTrue(
 //            new RunCommand(() ->  shooterSubsystem.setBottomSpeed(6500))
diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index b019ccf..fef2e40 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -12,8 +12,8 @@ public class DrivetrainConstants {
     public static final double maxAngularSpeed = 2 * Math.PI;
 
     public static final double directionSlewRate = 20; // rads/sec - turning was 4.0
-    public static final double magnitudeSlewRate = 1000; // percent/second (1 = 100%) - forward/backward/traverse - was 20.0
-    public static final double rotationalSlewRate = 1000; // percent/second (1 = 100%) - rotation was 50.0
+    public static final double magnitudeSlewRate = 20; // percent/second (1 = 100%) - forward/backward/traverse - was 20.0
+    public static final double rotationalSlewRate = 30; // percent/second (1 = 100%) - rotation was 50.0
 
     public static final double drivingSpeedScalar = -4.0; //make positive so gyroreset with intake forward
     public static final double rotationSpeedScalar = -3 * Math.PI;//make positive so gyroreset with intake forward
@@ -28,10 +28,10 @@ public class DrivetrainConstants {
             new Translation2d(-wheelBase / 2, -trackWidth / 2)
     );
 
-    public static final double frontLeftChassisAngularOffset = 1.029 + Math.PI/2 + Math.PI;
-    public static final double frontRightChassisAngularOffset = 5.034 - Math.PI + Math.PI;
-    public static final double rearLeftChassisAngularOffset = 0.8645 + Math.PI;
-    public static final double rearRightChassisAngularOffset = 5.449 - Math.PI/2 + Math.PI;
+    public static final double frontLeftChassisAngularOffset = 1.029 + Math.PI/2 + Math.PI-0.83+Math.PI/4;
+    public static final double frontRightChassisAngularOffset = 5.034 - Math.PI;
+    public static final double rearLeftChassisAngularOffset = 0.8645 + Math.PI+1.327;
+    public static final double rearRightChassisAngularOffset = 5.449 - Math.PI/2 + Math.PI-2.153;
 
     public static final int frontLeftDrivingPort = 7;
     public static final int rearLeftDrivingPort = 5;

From d82d9866d7fcb08bf5225d95b41e9355a3f24da9 Mon Sep 17 00:00:00 2001
From: Dan Josh <95506168+ddjoshua01@users.noreply.github.com>
Date: Fri, 11 Oct 2024 18:44:12 -0600
Subject: [PATCH 2/2] Note Vision on Secondary Controller

---
 .gradle/8.0/checksums/checksums.lock          | Bin 17 -> 0 bytes
 .gradle/8.0/fileChanges/last-build.bin        | Bin 1 -> 0 bytes
 .gradle/8.0/fileHashes/fileHashes.lock        | Bin 17 -> 0 bytes
 .gradle/8.0/gc.properties                     |   0
 .../8.5/executionHistory/executionHistory.bin | Bin 120407 -> 120407 bytes
 .../executionHistory/executionHistory.lock    | Bin 17 -> 17 bytes
 .gradle/8.5/fileHashes/fileHashes.bin         | Bin 25247 -> 25247 bytes
 .gradle/8.5/fileHashes/fileHashes.lock        | Bin 17 -> 17 bytes
 .../8.5/fileHashes/resourceHashesCache.bin    | Bin 23019 -> 23053 bytes
 .../buildOutputCleanup.lock                   | Bin 17 -> 17 bytes
 .gradle/file-system.probe                     | Bin 8 -> 8 bytes
 src/main/java/frc/robot/RobotContainer.java   |   2 +-
 12 files changed, 1 insertion(+), 1 deletion(-)
 delete mode 100644 .gradle/8.0/checksums/checksums.lock
 delete mode 100644 .gradle/8.0/fileChanges/last-build.bin
 delete mode 100644 .gradle/8.0/fileHashes/fileHashes.lock
 delete mode 100644 .gradle/8.0/gc.properties

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zcmbP#lyUx1#tr@+3TuvX-}*Pn_VYdG#W8<0-P{=%7$+r5T5B_af$h}I`5u4RSdt~}
z=5EgS*Wv`RmQJ1<AtfPtJoWhcFPix)ZpCi<D)BQOqS5a7<ns|e3g3h$GAMUVei~n#
r-=}%A;4DPaX%E=YtRtT{TSqDZ&C<$kpPZPaCjeyhKrCda1JZf`AWk?K

diff --git a/.gradle/8.5/fileHashes/fileHashes.lock b/.gradle/8.5/fileHashes/fileHashes.lock
index 1403710645c89dab201e8079eca8a29545132996..a87e3a3f2588bdcdc7662a3d1a8867a4f492eb85 100644
GIT binary patch
literal 17
VcmZSHeE*Q8s$ugp1~6bs1pqgC1h)VH

literal 17
VcmZSHeE*Q8s$ugp1~6a>1pqf{1g8K1

diff --git a/.gradle/8.5/fileHashes/resourceHashesCache.bin b/.gradle/8.5/fileHashes/resourceHashesCache.bin
index 64d81e31ae8487c28fde9790535dbb49e29d4799..8418eb5620d7a41699029a5720bf40eff3b31231 100644
GIT binary patch
delta 78
zcmaF8nXz{Z;|3E6#<tC-5<j>E;<j1{GyjRpWdMW7*PB(9Co?iG+^G0Ne4{}H_hv_r
gRf3cGBltvY<lf$1VpDNzZt124n{rz&0oBU^08Kv}w*UYD

delta 36
scmeC(!uWbK;|3E6#@5ZI5<j>$yDE1xGInlM{2{*4U;_7MM~_v4017w_>i_@%

diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
index cf21ed5b29d74a9a54fee5b23c5218338e9253d3..c104e2e62e4c55c8a86d0b57a657779d2c176465 100644
GIT binary patch
literal 17
VcmZRc(`{mUv2=eu0~jz)2LLk*1h4=A

literal 17
VcmZRc(`{mUv2=eu0~j!N0RS@o1fu`|

diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
index cf0a5e6ff1771ca8087b09b25ec4ab20fe1a8290..e06a0614049462798e0a12783eba44df850784cf 100644
GIT binary patch
literal 8
PcmZQzV4Rfq($xk42q6M&

literal 8
PcmZQzV4RfHwOR-O2X+EI

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f876479..fb4c63b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -207,7 +207,7 @@ public void configureButtonBindings() {
             new IntakeCommand(intakeSubsystem, indexerSubsystem, ledSubsystem, primaryController, secondaryController, IntakeCommand.Targets.SPEAKER, false)
     );
 
-    new JoystickButton(primaryController, XboxController.Button.kB.value).whileTrue(
+    new POVButton(secondaryController, 90).whileTrue(
             new RotateToNoteAndDriveCommand(swerveSubsystem, secondaryController,
                     () -> -primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
                     () -> -primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar,