abc

Author: Wisdo1

build.gradle

@@ -1,8 +1,8 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
-    id "com.peterabeles.gversion" version "1.10"
-    id 'com.diffplug.spotless' version '6.20.0'
+    // id "com.peterabeles.gversion" version "1.10"
+   // id 'com.diffplug.spotless' version '6.20.0' // i like my weird code...
 }
 
 java {
@@ -129,55 +129,55 @@ dependencies {
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
-project.compileJava.dependsOn(createVersionFile)
-gversion {
-  srcDir       = "src/main/java/"
-  classPackage = "frc.robot"
-  className    = "BUILD"
-  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
-  timeZone     = "America/New_York" // Use preferred time zone
-  indent       = "  "
-}
+// project.compileJava.dependsOn(createVersionFile) doesnt work???
+// gversion {
+//   srcDir       = "src/main/java/"
+//   classPackage = "frc.robot"
+//   className    = "BUILD"
+//   dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+//   timeZone     = "America/New_York" // Use preferred time zone
+//   indent       = "  "
+// }
+
+// spotless {
+//     java {
+//         target fileTree('.') {
+//             include '**/*.java'
+//             exclude '**/build/**', '**/build-*/**', '**/BUILD.java'
+//         }
+//         toggleOffOn()
+//         googleJavaFormat()
+//         removeUnusedImports()
+//         trimTrailingWhitespace()
+//         endWithNewline()
+//     }
+//     groovyGradle {
+//         target fileTree('.') {
+//             include '**/*.gradle'
+//             exclude '**/build/**', '**/build-*/**'
+//         }
+//         greclipse()
+//         indentWithSpaces(4)
+//         trimTrailingWhitespace()
+//         endWithNewline()
+//     }
+//     format 'xml', {
+//         target fileTree('.') {
+//             include '**/*.xml'
+//             exclude '**/build/**', '**/build-*/**'
+//         }
+//         eclipseWtp('xml')
+//         trimTrailingWhitespace()
+//         indentWithSpaces(2)
+//         endWithNewline()
+//     }
+//     format 'misc', {
+//         target fileTree('.') {
+//             include '**/*.md', '**/.gitignore'
+//             exclude '**/build/**', '**/build-*/**'
+//         }
+//         trimTrailingWhitespace()
+//         indentWithSpaces(2)
+//         endWithNewline()
+//     }
 
-spotless {
-    java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '**/BUILD.java'
-        }
-        toggleOffOn()
-        googleJavaFormat()
-        removeUnusedImports()
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    groovyGradle {
-        target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        greclipse()
-        indentWithSpaces(4)
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-    format 'misc', {
-        target fileTree('.') {
-            include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-}

simgui.json

@@ -32,7 +32,13 @@
     }
   },
   "NetworkTables Info": {
-    "Clients": {
+    "Connections": {
+      "open": true
+    },
+    "Server": {
+      "Publishers": {
+        "open": true
+      },
       "open": true
     },
     "visible": true

src/main/java/frc/robot/Constants.java

@@ -24,7 +24,7 @@
  */
 public final class Constants
 {
-  public static final Mode currentMode = Mode.SIM;
+  public static final Mode currentMode = Mode.REAL;
 
   public static enum Mode {
     /** Running on a real robot. */
@@ -89,7 +89,7 @@ public static class PoseCameraConstants
                       Units.inchesToMeters(-10.687),
                       Units.inchesToMeters(16.129));
 
-    public static final String CAM2N = "W";
+    public static final String CAM2N = "h";
    public static final Rotation3d CAM2R = new Rotation3d(0, 0, 0);
    public static final Translation3d CAM2T = new Translation3d(Units.inchesToMeters(-4.628),
                       Units.inchesToMeters(-10.687),

src/main/java/frc/robot/subsystems/Swerve/SWERVEVision.java

@@ -15,6 +15,7 @@
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import frc.robot.Robot;
+import frc.robot.Constants.Mode;
 import frc.robot.Constants.PoseCameraConstants;
 
 import java.awt.Desktop;
@@ -35,6 +36,9 @@
 import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
+
+import com.google.flatbuffers.Constants;
+
 import swervelib.SwerveDrive;
 import swervelib.telemetry.Alert;
 import swervelib.telemetry.Alert.AlertType;
@@ -44,6 +48,11 @@
  * Example PhotonVision class to aid in the pursuit of accurate odometry. Taken from
  * https://gitlab.com/ironclad_code/ironclad-2024/-/blob/master/src/main/java/frc/robot/vision/Vision.java?ref_type=heads
  */
+
+
+// THERE IS A VISIONENABLED VARIABLE IN SWERVE SUBSYTEM I PROMISE THIS FILE SHOULD NEVER CHANGE
+// THERE IS A VISIONENABLED VARIABLE IN SWERVE SUBSYTEM I PROMISE THIS FILE SHOULD NEVER CHANGE
+// THERE IS A VISIONENABLED VARIABLE IN SWERVE SUBSYTEM I PROMISE THIS FILE SHOULD NEVER CHANGE
 public class SWERVEVision
 {
 

src/main/java/frc/robot/subsystems/Swerve/SwerveSubsystem.java

@@ -60,7 +60,7 @@ public class SwerveSubsystem extends SubsystemBase
   /**
    * Enable vision odometry updates while driving.
    */
-  private boolean visionEnabled = false;
+  private boolean visionEnabled = true;
 
   /**
    * Initialize {@link SwerveDrive} with the directory provided.
@@ -412,9 +412,16 @@ public void resetOdometry(Pose2d initialHolonomicPose)
    *
    * @return The robot's pose
    */
-  public Pose2d getPose()
+  public Pose2d getPose() 
+  {
+    return !visionEnabled ? io.swerveDrive.getPose() : getVisionPose();
+    // return io.swerveDrive.getPose();
+    // Made it simple, can still use getMesPose for the normal pose
+  }
+  public Pose2d getMesPose() 
   {
     return io.swerveDrive.getPose();
+    // use getPose() for the default pose
   }
 
   /**