Pre duluth

.gitignore

@@ -53,3 +53,6 @@ Thumbs.db
 
 # VS Code Settings
 .vscode/
+
+# sim files
+.ctre_sim/

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
-    "currentLanguage": "none",
+    "currentLanguage": "java",
     "enableCppIntellisense": false,
-    "projectYear": "none",
+    "projectYear": "2026",
     "teamNumber": 3926
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {

src/main/deploy/pathplanner/paths/GoToDepot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.555,
+        "y": 6.34
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.618047995229281,
+        "y": 5.549921996799937
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.8138370036801503,
+        "y": 5.961968906269622
+      },
+      "prevControl": {
+        "x": 2.076736993577922,
+        "y": 6.092338697684089
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 179.0798355625638
+  },
+  "reversed": false,
+  "folder": "Offset Depot",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.19916319085310868
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/ShootAfterDepot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.814,
+        "y": 5.962
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.26670189525463,
+        "y": 5.905031394675925
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7384416232638893,
+        "y": 4.878029730902778
+      },
+      "prevControl": {
+        "x": 2.4099296875000005,
+        "y": 5.91428247974537
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 57.826290910926296
+  },
+  "reversed": false,
+  "folder": "Offset Depot",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.19916319085310868
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,34 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Offset Depot"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

src/main/java/frc/robot/Auto/CenterLemonAuto.java

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.Auto;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Constants.SwerveConstants;
+import frc.robot.Subsystems.IntakeSubsystem;
+import frc.robot.Subsystems.ShooterSubsystem;
+import frc.robot.Subsystems.SwerveSubsystem;
+
+public class CenterLemonAuto extends SequentialCommandGroup {
+
+  public CenterLemonAuto(SwerveSubsystem drive, IntakeSubsystem intake, ShooterSubsystem shooter) {
+    addCommands(
+      new InstantCommand(()->drive.drive(0, 0.4,0, false), drive),
+      Commands.waitSeconds(2),
+      new InstantCommand(()->drive.drive(0,0,0, false),drive),
+
+      Commands.runOnce(() -> shooter.setHoodAngle(ShooterSubsystem.HoodAngle.LOW), shooter),
+      Commands.runOnce(() -> {
+        shooter.runIndexer(false);
+        shooter.runKicker(false);
+      }, shooter),
+      Commands.run(() -> shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED), shooter)
+        .until(() -> shooter.getShooterVelocityRpm() >= ShooterConstants.SHOOTER_READY_RPM)
+        .withTimeout(2.0),
+
+      Commands.sequence(
+        // Start kicker first, then start indexer 1 second later (kicker keeps running).
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(0.0);
+        }, shooter).withTimeout(1.0),
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(ShooterConstants.INDEXER_SPEED);
+        }, shooter)
+	    )
+	  );
+	}
+}

src/main/java/frc/robot/Auto/LeftLemonAuto.java

@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.Auto;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Constants.SwerveConstants;
+import frc.robot.Subsystems.IntakeSubsystem;
+import frc.robot.Subsystems.ShooterSubsystem;
+import frc.robot.Subsystems.SwerveSubsystem;
+
+public class LeftLemonAuto extends SequentialCommandGroup {
+
+  public LeftLemonAuto(SwerveSubsystem drive, IntakeSubsystem intake, ShooterSubsystem shooter) {
+    final double[] startYawRad = new double[1];
+    addCommands(
+      new InstantCommand(()->drive.drive(-0.5, 0,0, false), drive),
+      Commands.waitSeconds(2),
+      new InstantCommand(()->drive.drive(0,0,0, false),drive),
+      Commands.runOnce(() -> startYawRad[0] = drive.getYaw().getRadians(), drive),
+        Commands.run(() -> {
+          double targetYawRad = startYawRad[0] + Math.toRadians(40.0);
+          double errorRad = MathUtil.angleModulus(targetYawRad - drive.getYaw().getRadians());
+          double omegaRadiansPerSecond = MathUtil.clamp(errorRad * 4.0, -SwerveConstants.maxAngularVelocity, SwerveConstants.maxAngularVelocity);
+          drive.drive(0,0, omegaRadiansPerSecond, false);
+        }, drive).until(() -> {
+          double targetYawRad = startYawRad[0] + Math.toRadians(40.0);
+          double errorRad = MathUtil.angleModulus(targetYawRad - drive.getYaw().getRadians());
+          return Math.abs(errorRad) < Math.toRadians(3.0);
+        }),
+      Commands.runOnce(() -> drive.drive(0, 0, 0, false), drive),
+      Commands.runOnce(() -> shooter.setHoodAngle(ShooterSubsystem.HoodAngle.HIGH), shooter),
+      Commands.runOnce(() -> {
+        shooter.runIndexer(false);
+        shooter.runKicker(false);
+      }, shooter),
+      Commands.run(() -> shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED), shooter)
+        .until(() -> shooter.getShooterVelocityRpm() >= ShooterConstants.SHOOTER_READY_RPM)
+        .withTimeout(2.0),
+
+      Commands.sequence(
+        // Start kicker first, then start indexer 1 second later (kicker keeps running).
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(0.0);
+        }, shooter).withTimeout(1.0),
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(ShooterConstants.INDEXER_SPEED);
+        }, shooter)
+	    )
+	  );
+	}
+}

src/main/java/frc/robot/Auto/RightLemonAuto.java

@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.Auto;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Constants.SwerveConstants;
+import frc.robot.Subsystems.IntakeSubsystem;
+import frc.robot.Subsystems.ShooterSubsystem;
+import frc.robot.Subsystems.SwerveSubsystem;
+
+public class RightLemonAuto extends SequentialCommandGroup {
+
+  public RightLemonAuto(SwerveSubsystem drive, IntakeSubsystem intake, ShooterSubsystem shooter) {
+    final double[] startYawRad = new double[1];
+    addCommands(
+      new InstantCommand(()->drive.drive(0.5, 0,0, false), drive),
+      Commands.waitSeconds(2),
+      new InstantCommand(()->drive.drive(0,0,0, false),drive),
+      Commands.runOnce(() -> startYawRad[0] = drive.getYaw().getRadians(), drive),
+        Commands.run(() -> {
+          double targetYawRad = startYawRad[0] + Math.toRadians(-30.0);
+          double errorRad = MathUtil.angleModulus(targetYawRad - drive.getYaw().getRadians());
+          double omegaRadiansPerSecond = MathUtil.clamp(errorRad * 4.0, -SwerveConstants.maxAngularVelocity, SwerveConstants.maxAngularVelocity);
+          drive.drive(0,0, omegaRadiansPerSecond, false);
+        }, drive).until(() -> {
+          double targetYawRad = startYawRad[0] + Math.toRadians(-30.0);
+          double errorRad = MathUtil.angleModulus(targetYawRad - drive.getYaw().getRadians());
+          return Math.abs(errorRad) < Math.toRadians(3.0);
+        }),
+      Commands.runOnce(() -> drive.drive(0, 0, 0, false), drive),
+      Commands.runOnce(() -> shooter.setHoodAngle(ShooterSubsystem.HoodAngle.HIGH), shooter),
+      Commands.runOnce(() -> {
+        shooter.runIndexer(false);
+        shooter.runKicker(false);
+      }, shooter),
+      Commands.run(() -> shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED), shooter)
+        .until(() -> shooter.getShooterVelocityRpm() >= ShooterConstants.SHOOTER_READY_RPM)
+        .withTimeout(2.0),
+
+      Commands.sequence(
+        // Start kicker first, then start indexer 1 second later (kicker keeps running).
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(0.0);
+        }, shooter).withTimeout(1.0),
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(ShooterConstants.INDEXER_SPEED);
+        }, shooter)
+	    )
+	  );
+	}
+}

src/main/java/frc/robot/Auto/ShootEightAuto.java

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.Auto;
+
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.Subsystems.IntakeSubsystem;
+import frc.robot.Subsystems.ShooterSubsystem;
+import frc.robot.Subsystems.SwerveSubsystem;
+
+public class ShootEightAuto extends SequentialCommandGroup {
+
+  public ShootEightAuto(SwerveSubsystem drive, IntakeSubsystem intake, ShooterSubsystem shooter) {
+    final double[] startYawRad = new double[1];
+    addCommands(
+      Commands.runOnce(() -> shooter.setHoodAngle(ShooterSubsystem.HoodAngle.HIGH), shooter),
+      Commands.runOnce(() -> {
+        shooter.runIndexer(false);
+        shooter.runKicker(false);
+      }, shooter),
+      Commands.run(() -> shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED), shooter)
+        .until(() -> shooter.getShooterVelocityRpm() >= ShooterConstants.SHOOTER_READY_RPM)
+        .withTimeout(2.0),
+
+      Commands.sequence(
+        // Start kicker first, then start indexer 1 second later (kicker keeps running).
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(0.0);
+        }, shooter).withTimeout(1.0),
+        Commands.run(() -> {
+          shooter.setShooterSpeed(ShooterConstants.SHOOTER_SPEED);
+          shooter.setKickerSpeed(ShooterConstants.KICKER_SPEED);
+          shooter.setIndexerSpeed(ShooterConstants.INDEXER_SPEED);
+        }, shooter)
+	    )
+	  );
+	}
+}