Robot config

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 java {
@@ -69,6 +69,8 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    implementation 'com.google.code.gson:gson:2.8.6'
 }
 
 test {

robot-config.json

@@ -0,0 +1,66 @@
+{
+  "parameters": {
+    "SuperStructure.AMP_GO.pivotEncoderVal": 1.0,
+    "Shooter.Pivot.PID.I": 0.0,
+    "SuperStructure.RECEIVE.elevatorEncoderVal": 0.0,
+    "Shooter.PID.P": 0.0,
+    "Shooter.Pivot.PID.P": 0.05,
+    "Intake.downPosition": -58.0,
+    "SuperStructure.SPOOLING.shooterSpeed": 0.8,
+    "Shooter.Pivot.PID.D": 0.0,
+    "SuperStructure.TRAP_GO.elevatorEncoderVal": 7.4,
+    "Shooter.PID.I": 0.0,
+    "Elevator.PID.OutputRange.Max": 1.0,
+    "SuperStructure.TRAP_READY.pivotEncoderVal": 0.0,
+    "SuperStructure.AMP_READY.indexerSpeed": 0.0,
+    "SuperStructure.AMP_GO.elevatorEncoderVal": 8.2,
+    "SuperStructure.SHOOTING.indexerSpeed": 0.2,
+    "SuperStructure.AMP_GO.indexerSpeed": -0.3,
+    "SuperStructure.tof_threshold_mm": 75.0,
+    "SuperStructure.AMP_READY.shooterSpeed": 0.0,
+    "SuperStructure.MANUAL_OVERRIDE.shooterSpeed": 0.0,
+    "SuperStructure.TRAP_GO.pivotEncoderVal": 0.0,
+    "SuperStructure.RECEIVE.pivotEncoderVal": -0.373,
+    "SuperStructure.AMP_READY.elevatorEncoderVal": 8.2,
+    "Shooter.maxVelocity": 35.0,
+    "SuperStructure.RECEIVE.indexerSpeed": -0.14,
+    "SuperStructure.MANUAL_OVERRIDE.pivotEncoderVal": 0.0,
+    "Elevator.PID.I": 0.0,
+    "DriveTrain.PID.I": 0.0,
+    "SuperStructure.IDLE.indexerSpeed": 0.0,
+    "Elevator.PID.FF": 0.0,
+    "DriveTrain.PID.D": 0.0,
+    "Elevator.PID.D": 0.0,
+    "DriveTrain.PID.P": 0.1,
+    "Elevator.PID.P": 0.3,
+    "SuperStructure.IDLE.shooterSpeed": 0.0,
+    "SuperStructure.SHOOTING.elevatorEncoderVal": 7.0,
+    "SuperStructure.SHOOTING.pivotEncoderVal": -11.0,
+    "Shooter.maxAcceleration": 15.0,
+    "Intake.maxVelocity": 60.0,
+    "SuperStructure.MANUAL_OVERRIDE.elevatorEncoderVal": 0.0,
+    "SuperStructure.SPOOLING.indexerSpeed": 0.0,
+    "SuperStructure.IDLE.elevatorEncoderVal": 0.0,
+    "Elevator.maxVelocity": 8.0,
+    "Intake.maxAcceleration": 25.0,
+    "SuperStructure.RECEIVE.shooterSpeed": 0.0,
+    "SuperStructure.AMP_GO.shooterSpeed": 0.0,
+    "SuperStructure.SHOOTING.shooterSpeed": 0.8,
+    "SuperStructure.MANUAL_OVERRIDE.indexerSpeed": 0.0,
+    "Elevator.maxAcceleration": 4.0,
+    "SuperStructure.TRAP_GO.indexerSpeed": 0.2,
+    "Intake.pivot.PID.I": 0.0,
+    "SuperStructure.IDLE.pivotEncoderVal": -0.373,
+    "Intake.pivot.PID.P": 0.02,
+    "Intake.pivot.PID.D": 0.005,
+    "SuperStructure.TRAP_GO.shooterSpeed": 0.0,
+    "Shooter.PID.D": 0.0,
+    "SuperStructure.SPOOLING.pivotEncoderVal": -11.0,
+    "SuperStructure.AMP_READY.pivotEncoderVal": 1.0,
+    "SuperStructure.TRAP_READY.elevatorEncoderVal": 7.4,
+    "SuperStructure.TRAP_READY.shooterSpeed": 0.0,
+    "SuperStructure.TRAP_READY.indexerSpeed": 0.0,
+    "Elevator.PID.OutputRange.Min": -0.2,
+    "SuperStructure.SPOOLING.elevatorEncoderVal": 7.0
+  }
+}

src/main/java/frc/robot/commands/SuperstructureDefault.java

@@ -147,11 +147,10 @@ public void execute() {
       // This does everything besides state transitions
       // Superstructure.elevator.setGoal(superState.elevatorEncoderVal);
       Superstructure.Elevator.leader.getPIDController()
-          .setReference(superState.elevatorEncoderVal, ControlType.kPosition, 0, 2.0);
-      Superstructure.shooter.setGoal(superState.pivotEncoderVal);
-      Superstructure.shooter.setIndexer(superState.indexerSpeed);
-
-      Superstructure.shooter.setShooter(superState.shooterSpeed);
+          .setReference(superState.elevatorEncoderVal.get(), ControlType.kPosition, 0, 2.0);
+      Superstructure.shooter.setGoal(superState.pivotEncoderVal.get());
+      Superstructure.shooter.setIndexer(superState.indexerSpeed.get());
+      Superstructure.shooter.setShooter(superState.shooterSpeed.get());
     }
 
     buttonBox.LED(ButtonBox.Button.RECEIVE_PRESET, false);

src/main/java/frc/robot/subsystems/Intake.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
 import frc.robot.subsystems.Superstructure.SuperstructureState;
+import frc.robot.utilities.ConfigManager;
 import frc.robot.utilities.Functions;
 
 /** Represents the intake subsystem. */
@@ -34,6 +35,7 @@ private IntakeState(double pivot, double roller) {
     }
   }
 
+  private static final ConfigManager.PrefixedConfigAccessor config = ConfigManager.getInstance().getPrefixedAccessor("Intake.");
   private static IntakeState state;
   public static SuperstructureState pivotUpandDown;
   public static CANSparkMax pivot;
@@ -42,14 +44,17 @@ private IntakeState(double pivot, double roller) {
 
   /** Constructs a new Intake object. */
   public Intake() {
-    super(new TrapezoidProfile.Constraints(60, 25));
+    super(new TrapezoidProfile.Constraints(
+      config.getDouble("maxVelocity", 60),
+      config.getDouble("maxAcceleration", 25)
+    ));
     pivot = new CANSparkMax(6, MotorType.kBrushless);
     roller = new CANSparkMax(7, MotorType.kBrushless);
     Functions.setStatusFrames(pivot);
     Functions.setStatusFrames(roller);
-    pivot.getPIDController().setP(0.02);
-    pivot.getPIDController().setI(0);
-    pivot.getPIDController().setD(0.005);
+    config.doubleHandler("pivot.PID.P", val -> pivot.getPIDController().setP(val), 0.02);
+    config.doubleHandler("pivot.PID.I", val -> pivot.getPIDController().setI(val), 0);
+    config.doubleHandler("pivot.PID.D", val -> pivot.getPIDController().setD(val), 0.005);
     state = IntakeState.UP;
   }