Superstructure

build.gradle

@@ -8,7 +8,7 @@ java {
     targetCompatibility = JavaVersion.VERSION_17
 }
 
-def ROBOT_MAIN_CLASS = "org.ghrobotics.frc2024"
+def ROBOT_MAIN_CLASS = "org.ghrobotics.frc2024.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

networktables.json

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

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
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,10 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/org/ghrobotics/frc2024/Robot.java

@@ -4,8 +4,10 @@
 
 package org.ghrobotics.frc2024;
 
+
 import edu.wpi.first.wpilibj.TimedRobot;
 
+
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or

src/main/java/org/ghrobotics/frc2024/Superstructure.java

@@ -0,0 +1,5 @@
+package org.ghrobotics.frc2024;
+
+public class Superstructure {
+
+}

src/main/java/org/ghrobotics/frc2024/commands/ArmToPosition.java

@@ -0,0 +1,37 @@
+package org.ghrobotics.frc2024.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import org.ghrobotics.frc2024.subsystems.Arm;
+
+public class ArmToPosition extends Command {
+  // Subsystems
+  private final Arm arm_;
+
+  // Position
+  private final double position_;
+
+  // Constructor
+  public ArmToPosition(Arm arm, double position) {
+    // Assign member variables
+    arm_ = arm;
+    position_ = position;
+
+    // Add subsystem requirements
+    addRequirements(arm_);
+  }
+
+  @Override
+  public void initialize() {
+    arm_.setAngle(position_);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return Math.abs(arm_.getAngle() - position_) < Constants.kTolerance;
+  }
+
+  // Constants
+  private static final class Constants {
+    public static final double kTolerance = 0; // NEED TO UPDATE
+  }
+}