From 4dcc2c784e3beaac966458729164766de2e0748b Mon Sep 17 00:00:00 2001
From: Griffin <lamb.griffin@icloud.com>
Date: Wed, 19 Feb 2025 16:51:57 -0500
Subject: [PATCH] added settings.json

---
 src/main/deploy/pathplanner/settings.json   | 32 +++++++++++++++++++++
 src/main/java/frc/robot/DriverJoystick.java | 30 +++++++++----------
 2 files changed, 47 insertions(+), 15 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/settings.json

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..5bf438c
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "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": []
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/DriverJoystick.java b/src/main/java/frc/robot/DriverJoystick.java
index eabb697..ec74759 100644
--- a/src/main/java/frc/robot/DriverJoystick.java
+++ b/src/main/java/frc/robot/DriverJoystick.java
@@ -94,21 +94,21 @@ private DriverJoystick() {
 
         // Lock the wheels into an X formation
         super.xButton.whileTrue(this.driveTrain.setX());
-        // super.aButton.whileTrue(
-        // new InstantCommand(() -> {
-        // this.currentPose = this.driveTrain.getState().Pose;
-        // }).andThen(AutoBuilder.followPath(new PathPlannerPath(
-        // PathPlannerPath.waypointsFromPoses(this.currentPose,
-        // DriveWaypoints.Algae23.getEndpoint()),
-        // new PathConstraints(
-        // DriveConstants.MaxSpeed,
-        // AutoConstants.kMaxAccelerationMetersPerSecondSquared,
-        // AutoConstants.kMaxAngularSpeedRadiansPerSecond,
-        // AutoConstants.kMaxAngularSpeedRadiansPerSecondSquared),
-        // new IdealStartingState(
-        // driveTrain.getState().Speeds.vxMetersPerSecond,
-        // driveTrain.getState().Pose.getRotation()),
-        // new GoalEndState(0, Rotation2d.kZero)))));
+        super.aButton.whileTrue(
+                new InstantCommand(() -> {
+                    this.currentPose = this.driveTrain.getState().Pose;
+                }).andThen(AutoBuilder.followPath(new PathPlannerPath(
+                        PathPlannerPath.waypointsFromPoses(this.currentPose,
+                                DriveWaypoints.Algae23.getEndpoint()),
+                        new PathConstraints(
+                                DriveConstants.MaxSpeed,
+                                AutoConstants.kMaxAccelerationMetersPerSecondSquared,
+                                AutoConstants.kMaxAngularSpeedRadiansPerSecond,
+                                AutoConstants.kMaxAngularSpeedRadiansPerSecondSquared),
+                        new IdealStartingState(
+                                driveTrain.getState().Speeds.vxMetersPerSecond,
+                                driveTrain.getState().Pose.getRotation()),
+                        new GoalEndState(0, Rotation2d.kZero)))));
     }
 
     /**