3467 Nocturne Code

• This is now the active competition code,
• This code base was started with Jason Daming's improved version of the CTRE Swerve Example (see notes below).
• Added basic Subsystems: Drive, Arm, Shooter, Intake and Stage.
• Cleaned up and reorganized RobotContainer.jave to make it clearer for new programmers.
• Shooter subsystem features TunableNumber constants for tuning Velocity PID via the Shuffleboard.
• Arm, Shooter and Intake use Falcons and therefore the Phoenix 6 library. Intake and Stage use Talon SRX, and therefore the Phoenix 5 library.
• This code uses the CTRE Swerve Generator built into Tuner X. After generating a project using the Generator, copy the newly-generated TunerConstants.java into this code.

CTRE Swerve Example

Repo: https://github.com/jasondaming/ctre_swerve

Features:

• Improved Limelight support
• Improved PathPlanner autonomous setup
• Added SysID options for running swerve drivetrain characterization
• Different xbox joystick controller layout to try for driver comfort
• Easily scale down the max speed to help newer drivers learn
• "Turtle Mode" (left bumper) temporarily slows the drivetrain down for fine adjustments

This is an expanded version of the CTRE SwerveWithPathPlanner example using the CTRE Swerve Builder. To use it copy the generated/TunerConstants.java file from the generated project and replace the generated/TunerConstants.java file in this project. You will also need to set your team number.

To use the limelight ensure you have a 36h11 pipeline properly configured and then change the enable constant to true.

Will add specific steps on characterization after testing.

Calibrating the Arm Angle

1. Turn the robot off and push the Arm against its hard stop in the STOWED position
   
2. Turn the robot on and connect to the robot (Do not enable)
   
3. Open Shuffleboard and find the box with the value for "Arm Angle Uncorrected"
   
4. Copy this value into the constant named kARM_STARTING_OFFSET in the "ArmConstants" section of Constants.java
   

   The value should be > 0.0 (i.e. not negative). If it is 0.0 or less, then there is an encoder issue.
   The value should be between 30-120 degrees. Anything over 200 likely means the encoder zero point is not in the right spot).
   You want to make sure the value you choose is just slightly smaller than the lowest number that appears in "Arm Angle Uncorrected".
   Otherwise you may get negative readings for the Arm Current Angle, and error checking may prevent the Arm motors from moving.
   

5. Move the Arm to the horizontal position and again check the value in the "Arm Angle Uncorrected" box.
   
6. Copy this value into the constant named kARM_HORIZONTAL_OFFSET. (It should be between 90-160 degrees).
   
7. Save the file and deploy code to the robot. Make sure the Arm starts in the STOWED position.
   
8. If the value for Arm Current Angle is a negative value do not enable, and try to do the offsets again
   
9. If it is still negative, then there is an issue with the encoder.