TowardsAuburn2023

I'm hooked on a feelin'
I'm high on believin'

Current "Custom" Components:

SwerveModule.Kt. Defines and configures a swerve module(1 wheel each) based on params provided in constants. Includes a public setSpeeds() method used to control.
DriveTrain.Kt. Defines and configures a swerve drivetrain with 4 swerve modules. includes several public methods to use drivetrain, cheif among them being drive(), which takes in a Translation2d and sets motors accordingly.
Camerasubsystem.kt. Interacts with the limelight camera and uses photonvision. includes a distancetotarget method and assoc.

What's Next:

Add the camera and create a command to drive to the trajectory described by the target.
- lx = h/Tan(P)
- ly = lx/Tan(Y)
- create a translation2d based on those

Style guide and conventions

As much as possible, this code follows the Android Kotlin Style Guide, with the following exceptions:

Wildcard imports are allowed only for
```
import frc.robot.lib.units.*
```
Rationale: Seldom will units be imported individually; they are almost always all needed. Due to the small number of units available, this should not hinder compile times and should actually be beneficial for readability.
Imports are not ASCII-sorted. Rationale: Sorting would take too much time for relatively little gain.

Units

The base units for all measurements in this codebase are meters (length), degrees (angle), and seconds (time). To avoid confusion, always use one of the following to specify the unit of a given measurement. These are defined in lib/Units.kt.

Name	Conversion factor
`.meters`	1
`.inch`	0.0254
`.deg`	1
`.rad`	~57.2957795

Credits

Team 364, for their BaseFalconSweve code, used in much of our sverwe implementation
Team 3512, for their SwereBot-2022 code, used to adapt 364's swerve code to fit NEO motors
The RevRobotics, Kauai Labs, and PhotonVision teams for their vendor libraries
WPI, for WPILIB
Brenek Harrison, for the "Kotlin for FRC" extension

todo

Get odomotery working(again)
test current commands on drivetrain
add subsystems for radial, extension arms and gripper

{ "configurations": [ { "name": "TowardsAuburn2023 [deploy]", "type": "gradle", "tasks": ["deploy"], "args": [""], "initScripts": {"flmapper":"ext.mapPath = { path -> null }"} }, { "name": "TowardsAuburn2023 [build]", "type": "gradle", "tasks": ["build"], "args": [""], "initScripts": {"flmapper":"ext.mapPath = { path -> null }"} } ] }

LEFT: 3 = arm up 5 = arm down

RIGHT: 4 = suck in 6 = spit out

trigger/1 = EMERGENCY STOP ROTATIONAL thumb/2 = stop gripper

pick up: 4, 2, 6, 1