Resolve Merge conflict

.gitignore

@@ -173,3 +173,5 @@ out/
 ctre_sim/
 src/main/java/org/jmhsrobotics/frc2024/BuildConstants.java
 *.wpilog
+simgui-ds.json
+simgui.json

build.gradle

@@ -56,6 +56,7 @@ def includeDesktopSupport = false
 // Also defines JUnit 5.
 dependencies {
     implementation 'com.github.FRC-Team-620:WarCore:v1.1'
+    implementation 'com.github.shueja:Monologue:v1.0.0-beta4'
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 

src/main/java/org/jmhsrobotics/frc2024/Constants.java

@@ -0,0 +1,146 @@
+package org.jmhsrobotics.frc2024;
+
+import com.revrobotics.CANSparkBase.IdleMode;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.util.Units;
+
+public class Constants {
+	public static class SwerveConstants {
+		// SPARK MAX CAN IDs
+		public static final int kFrontLeftDrivingCanId = 10;
+		public static final int kRearLeftDrivingCanId = 12;
+		public static final int kFrontRightDrivingCanId = 11;
+		public static final int kRearRightDrivingCanId = 13;
+
+		public static final int kFrontLeftTurningCanId = 20;
+		public static final int kRearLeftTurningCanId = 22;
+		public static final int kFrontRightTurningCanId = 21;
+		public static final int kRearRightTurningCanId = 23;
+
+		public static final int kGyroCanId = 62;
+		public static final boolean kGyroReversed = false;
+
+		public static final double dtOffset = 0.02;
+
+		public static final double kMaxXSpeed = 0.8;
+		public static final double kMaxYSpeed = 0.8;
+		public static final double kMaxRotationSpeed = 0.8;
+		public static final boolean kFieldRelative = true;
+		public static final boolean kRateLimit = false;
+
+		// drive deadband constants
+		public static final double kDeadBand = 0.05;
+		// Driving Parameters - Note that these are not the maximum capable speeds of
+		// the robot, rather the allowed maximum speeds
+		public static final double kMaxSpeedMetersPerSecond = 4.2;
+		public static final double kMaxAngularSpeed = Math.PI; // radians per second
+
+		public static final double kDirectionSlewRate = 1.4; // radians per second
+		public static final double kMagnitudeSlewRate = 1.8; // percent per second (1 = 100%)
+		public static final double kRotationalSlewRate = 2.0; // percent per second (1 = 100%)
+
+		private static final double kRobotWidthWheelDifference = 1.75 * 2;
+
+		// Chassis configuration
+		// Distance between centers of right and left wheels on robot
+		public static final double kTrackWidth = Units.inchesToMeters(26 - kRobotWidthWheelDifference);
+		// Distance between centers of front and back wheels on robot
+		public static final double kWheelBase = Units.inchesToMeters(26 - kRobotWidthWheelDifference);
+
+		public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
+				new Translation2d(kWheelBase / 2, kTrackWidth / 2), new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+				new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+				new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+
+		// Angular offsets of the modules relative to the chassis in radians
+		public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
+		public static final double kFrontRightChassisAngularOffset = 0;
+		public static final double kBackLeftChassisAngularOffset = Math.PI;
+		public static final double kBackRightChassisAngularOffset = Math.PI / 2;
+	}
+
+	public enum ModuleSpeed {
+		HIGH(14), MEDIUM(13), LOW(12);
+
+		public final int pinionTeeth;
+
+		ModuleSpeed(int pinionTeeth) {
+			this.pinionTeeth = pinionTeeth;
+		}
+
+	}
+
+	public static final class ModuleConstants {
+		// The MAXSwerve module can be configured with one of three pinion gears: 12T,
+		// 13T, or 14T.
+		// This changes the drive speed of the module (a pinion gear with more teeth
+		// will result in a
+		// robot that drives faster).
+		public static final int kDrivingMotorPinionTeeth = ModuleSpeed.HIGH.pinionTeeth;
+
+		// Invert the turning encoder, since the output shaft rotates in the opposite
+		// direction of
+		// the steering motor in the MAXSwerve Module.
+		public static final boolean kTurningEncoderInverted = true;
+
+		// Calculations required for driving motor conversion factors and feed forward
+		public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
+		public static final double kWheelDiameterMeters = 0.0762;
+		public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+		// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15
+		// teeth on the bevel pinion
+		public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
+		public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
+				/ kDrivingMotorReduction;
+
+		// used
+		public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
+				/ kDrivingMotorReduction; // meters
+		// used
+		public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
+				/ kDrivingMotorReduction) / 60.0; // meters per second
+
+		public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
+		public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
+
+		public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
+		public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
+
+		public static final double kDrivingP = 0.04;
+		public static final double kDrivingI = 0;
+		public static final double kDrivingD = 0;
+		public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
+		public static final double kDrivingMinOutput = -1;
+		public static final double kDrivingMaxOutput = 1;
+
+		public static final double kTurningP = 1;
+		public static final double kTurningI = 0;
+		public static final double kTurningD = 0;
+		public static final double kTurningFF = 0;
+		public static final double kTurningMinOutput = -1;
+		public static final double kTurningMaxOutput = 1;
+
+		public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
+		public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
+
+		public static final int kDrivingMotorCurrentLimit = 50; // amps
+		public static final int kTurningMotorCurrentLimit = 20; // amps
+	}
+
+	// TODO: Clean up auto constants later
+	public static final class AutoConstants {
+
+	}
+
+	public static final class NeoMotorConstants {
+		public static final double kFreeSpeedRpm = 5676;
+	}
+
+	public static final class LEDConstants {
+		public static final int LEDPortID = 9;
+		public static final int LEDLength = 60;
+		public static final int rainbowSpeed = 3;
+	}
+}

src/main/java/org/jmhsrobotics/frc2024/Robot.java

@@ -24,8 +24,10 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import monologue.Logged;
+import monologue.Monologue;
 
-public class Robot extends TimedRobot {
+public class Robot extends TimedRobot implements Logged {
 	private Command autonomousCommand;
 
 	private RobotContainer m_robotContainer;
@@ -40,18 +42,22 @@ public void robotInit() {
 	public void setupLogs() {
 		if (Robot.isSimulation()) {
 			// Filesystem.getOperatingDirectory().getAbsolutePath().
-			DataLogManager.start(Filesystem.getOperatingDirectory().getAbsolutePath() + "\\logs");
+			DataLogManager.start(Filesystem.getOperatingDirectory().getAbsolutePath() + "/logs");
 		} else {
 			DataLogManager.start();
 		}
 		DataLogManager.logNetworkTables(true);
 		DriverStation.startDataLog(DataLogManager.getLog());
 		BuildDataLogger.LogToNetworkTables(BuildConstants.class);
 		BuildDataLogger.LogToWpiLib(DataLogManager.getLog(), BuildConstants.class);
+		boolean fileOnly = false;
+		boolean lazyLogging = false;
+		Monologue.setupMonologue(this, "Robot", fileOnly, lazyLogging);
 	}
 
 	@Override
 	public void robotPeriodic() {
+		Monologue.updateAll();
 		CommandScheduler.getInstance().run();
 	}