Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

simgui-ds.json

@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000006d04000015c2000000000000"
+    }
   ]
 }

simgui.json

@@ -1,7 +1,16 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/navX-Sensor[1]": "Gyro"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   }
 }

src/main/deploy/swerve/modules/backleft.json

@@ -11,12 +11,12 @@
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 1,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 2,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/backright.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 3,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 4,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 5,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontleft.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 6,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 7,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 8,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontright.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 9,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 10,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 11,
     "canbus": null
   },
   "inverted": {

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

@@ -18,7 +18,7 @@ public class Drive extends SubsystemBase {
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
  
   public void drive(double x, double y, double zRotation){
-    swerveDrive.drive(new Translation2d(x, y), zRotation, true, true);
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, false);
   }