From bbbfb04d0e1392ef8586d1d858694965a20b0d60 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Thu, 22 Jan 2026 13:33:45 +0200 Subject: [PATCH 1/6] Update RobotConstants.java --- src/main/java/frc/trigon/robot/constants/RobotConstants.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/constants/RobotConstants.java b/src/main/java/frc/trigon/robot/constants/RobotConstants.java index cd08b536..4f1eb4bb 100644 --- a/src/main/java/frc/trigon/robot/constants/RobotConstants.java +++ b/src/main/java/frc/trigon/robot/constants/RobotConstants.java @@ -1,11 +1,12 @@ package frc.trigon.robot.constants; -import frc.trigon.robot.Robot; import frc.trigon.lib.hardware.RobotHardwareStats; import frc.trigon.lib.utilities.FilesHandler; +import frc.trigon.robot.Robot; public class RobotConstants { - public static final String CANIVORE_NAME = "SwerveCANivore"; + public static final boolean USE_CANIVORE = true; + public static final String CANIVORE_NAME = USE_CANIVORE ? "SwerveCANivore" : ""; public static final String LOGGING_PATH = Robot.IS_REAL ? "/media/sda1/akitlogs/" : FilesHandler.DEPLOY_PATH + "logs/"; private static final RobotHardwareStats.ReplayType REPLAY_TYPE = RobotHardwareStats.ReplayType.NONE; private static final double PERIODIC_TIME_SECONDS = 0.02; From a03766d24dfd257941fdc05dd6eb43c88f19003c Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Thu, 22 Jan 2026 13:37:02 +0200 Subject: [PATCH 2/6] fix bug --- src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java b/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java index 9b6a18ee..b3ea9060 100644 --- a/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java +++ b/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java @@ -82,7 +82,7 @@ public void setHeading(Rotation2d heading) { } public Rotation2d getHeading() { - return Rotation2d.fromDegrees(SwerveConstants.GYRO.getSignal(Pigeon2Signal.YAW)); + return Rotation2d.fromRotations(SwerveConstants.GYRO.getSignal(Pigeon2Signal.YAW)); } public Translation2d getFieldRelativeVelocity() { From 157d139ad60349a1befb66425c3f084543428187 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Thu, 22 Jan 2026 13:41:00 +0200 Subject: [PATCH 3/6] fix --- src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java b/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java index b3ea9060..9b6a18ee 100644 --- a/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java +++ b/src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java @@ -82,7 +82,7 @@ public void setHeading(Rotation2d heading) { } public Rotation2d getHeading() { - return Rotation2d.fromRotations(SwerveConstants.GYRO.getSignal(Pigeon2Signal.YAW)); + return Rotation2d.fromDegrees(SwerveConstants.GYRO.getSignal(Pigeon2Signal.YAW)); } public Translation2d getFieldRelativeVelocity() { From 346599be30a9be99aa7a434ba83b71286d77411d Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Thu, 22 Jan 2026 17:34:30 +0200 Subject: [PATCH 4/6] Update RobotConstants.java --- src/main/java/frc/trigon/robot/constants/RobotConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/constants/RobotConstants.java b/src/main/java/frc/trigon/robot/constants/RobotConstants.java index 4f1eb4bb..dda04d3e 100644 --- a/src/main/java/frc/trigon/robot/constants/RobotConstants.java +++ b/src/main/java/frc/trigon/robot/constants/RobotConstants.java @@ -5,7 +5,7 @@ import frc.trigon.robot.Robot; public class RobotConstants { - public static final boolean USE_CANIVORE = true; + public static final boolean USE_CANIVORE = RobotHardwareStats.isSimulation() ? true : false; public static final String CANIVORE_NAME = USE_CANIVORE ? "SwerveCANivore" : ""; public static final String LOGGING_PATH = Robot.IS_REAL ? "/media/sda1/akitlogs/" : FilesHandler.DEPLOY_PATH + "logs/"; private static final RobotHardwareStats.ReplayType REPLAY_TYPE = RobotHardwareStats.ReplayType.NONE; From 53bb6aa89686100b9ffa40af4228a2cda8014119 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Thu, 22 Jan 2026 18:44:04 +0200 Subject: [PATCH 5/6] Update RobotConstants.java --- src/main/java/frc/trigon/robot/constants/RobotConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/constants/RobotConstants.java b/src/main/java/frc/trigon/robot/constants/RobotConstants.java index dda04d3e..a344428b 100644 --- a/src/main/java/frc/trigon/robot/constants/RobotConstants.java +++ b/src/main/java/frc/trigon/robot/constants/RobotConstants.java @@ -5,8 +5,8 @@ import frc.trigon.robot.Robot; public class RobotConstants { - public static final boolean USE_CANIVORE = RobotHardwareStats.isSimulation() ? true : false; - public static final String CANIVORE_NAME = USE_CANIVORE ? "SwerveCANivore" : ""; + public static final boolean USE_CANIVORE = true; + public static final String CANIVORE_NAME = "SwerveCANivore"; public static final String LOGGING_PATH = Robot.IS_REAL ? "/media/sda1/akitlogs/" : FilesHandler.DEPLOY_PATH + "logs/"; private static final RobotHardwareStats.ReplayType REPLAY_TYPE = RobotHardwareStats.ReplayType.NONE; private static final double PERIODIC_TIME_SECONDS = 0.02; From 151b3078d82f6e0f5d770f4925e8996c4028f287 Mon Sep 17 00:00:00 2001 From: ShmayaR Date: Mon, 26 Jan 2026 17:22:15 +0200 Subject: [PATCH 6/6] Update lib --- src/main/java/frc/trigon/lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/lib b/src/main/java/frc/trigon/lib index 9403200d..57c2a4d6 160000 --- a/src/main/java/frc/trigon/lib +++ b/src/main/java/frc/trigon/lib @@ -1 +1 @@ -Subproject commit 9403200d5d1161a2c75be560251618af01230b5a +Subproject commit 57c2a4d61d3a5c85eca34b0e65cee7bb7349b364