some logging things and drive simplification

build.gradle

@@ -170,3 +170,37 @@ spotless {
         endWithNewline()
     }
 }
+
+// Create commit with working changes on event branches
+task(eventDeploy) {
+    doLast {
+        if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
+
+            def branchPrefix = "event"
+            def branch = 'git branch --show-current'.execute().text.trim()
+            def commitMessage = "Update at '${new Date().toString()}'"
+
+            if (branch.startsWith(branchPrefix)) {
+                exec {
+                    workingDir(projectDir)
+                    executable 'git'
+                    args 'add', '-A'
+                }
+                exec {
+                    workingDir(projectDir)
+                    executable 'git'
+                    args 'commit', '-m', commitMessage
+                    ignoreExitValue = true
+                }
+
+                println "Committed to branch: '$branch'"
+                println "Commit message: '$commitMessage'"
+            } else {
+                println "Not on an event branch, skipping commit"
+            }
+        } else {
+            println "Not running deploy task, skipping commit"
+        }
+    }
+}
+createVersionFile.dependsOn(eventDeploy)

src/main/java/frc/robot/BuildConstants.java

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Forte-2-5";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 79;
-  public static final String GIT_SHA = "547f9ab3941b5f47c4860c630df2611586daa420";
-  public static final String GIT_DATE = "2024-10-11 09:43:51 EDT";
+  public static final int GIT_REVISION = 81;
+  public static final String GIT_SHA = "2414864d99e03e5681d64c5f87a3ae1e1a43be3c";
+  public static final String GIT_DATE = "2024-10-11 06:01:33 EDT";
   public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-10-11 09:50:21 EDT";
-  public static final long BUILD_UNIX_TIME = 1728654621885L;
+  public static final String BUILD_DATE = "2024-10-11 07:55:17 EDT";
+  public static final long BUILD_UNIX_TIME = 1728647717748L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

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

@@ -27,7 +27,7 @@
 public final class Constants {
   public static final double loopPeriodSecs = 0.02;
 
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
 
   public static enum Mode {
     /** Running on a real robot. */

src/main/java/frc/robot/Visualizer.java

@@ -15,10 +15,10 @@
 import frc.robot.subsystems.climber.Climb;
 import frc.robot.subsystems.intake.Intake;
 import frc.robot.subsystems.pivot2.Pivot;
-import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.AutoLogOutput;
 
 public class Visualizer extends SubsystemBase {
-  private Mechanism2d m_main;
+  @AutoLogOutput private Mechanism2d m_main;
 
   private MechanismLigament2d m_climberMech;
   private MechanismLigament2d m_intakeMech;
@@ -133,6 +133,6 @@ public void periodic() {
     m_pivotRelative.setAngle(Units.radiansToDegrees(m_pivot.getRelativeRadians()));
     m_pivotTarget.setAngle(Units.radiansToDegrees(m_pivot.getTargetRadians()));
 
-    Logger.recordOutput("Visualizer/FullRobot", m_main);
+    // Logger.recordOutput("Visualizer/FullRobot", m_main);
   }
 }

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -119,47 +119,6 @@ public void periodic() {
     }
   }
 
-  /**
-   * Runs the drive at the desired velocity.
-   *
-   * @param speeds Speeds in meters/sec
-   */
-  public void runVelocity(ChassisSpeeds speeds) {
-    // Calculate module setpoints
-    ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02);
-    SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
-    SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, DriveConstants.maxLinearVelocity);
-
-    // Send setpoints to modules
-    SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4];
-    for (int i = 0; i < 4; i++) {
-      // The module returns the optimized state, useful for logging
-      optimizedSetpointStates[i] = modules[i].runSetpoint(setpointStates[i]);
-    }
-
-    // Log setpoint states
-    Logger.recordOutput("SwerveStates/Setpoints", setpointStates);
-    Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates);
-  }
-
-  /** Stops the drive. */
-  public void stop() {
-    runVelocity(new ChassisSpeeds());
-  }
-
-  /**
-   * Stops the drive and turns the modules to an X arrangement to resist movement. The modules will
-   * return to their normal orientations the next time a nonzero velocity is requested.
-   */
-  public void stopWithX() {
-    Rotation2d[] headings = new Rotation2d[4];
-    for (int i = 0; i < 4; i++) {
-      headings[i] = getModuleTranslations()[i].getAngle();
-    }
-    kinematics.resetHeadings(headings);
-    stop();
-  }
-
   /** Returns the module states (turn angles and drive velocities) for all of the modules. */
   @AutoLogOutput(key = "SwerveStates/Measured")
   private SwerveModuleState[] getModuleStates() {
@@ -179,16 +138,6 @@ private SwerveModulePosition[] getModulePositions() {
     return states;
   }
 
-  /** Returns the maximum linear speed in meters per sec. */
-  public double getMaxLinearSpeedMetersPerSec() {
-    return DriveConstants.maxLinearVelocity;
-  }
-
-  /** Returns the maximum angular speed in radians per sec. */
-  public double getMaxAngularSpeedRadPerSec() {
-    return DriveConstants.maxAngularVelocity;
-  }
-
   /** Returns an array of module translations. */
   public static Translation2d[] getModuleTranslations() {
     return new Translation2d[] {
@@ -241,21 +190,7 @@ public ChassisSpeeds getVelocity() {
         speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond);
   }
 
-  public void resetOffsets() {
-    for (int i = 0; i < 4; i++) {
-      modules[i].resetOffset();
-    }
-  }
-
-  public Command resetOffsetsCmd() {
-    return run(() -> resetOffsets());
-  }
-
   public Rotation2d getRotation() {
     return gyroIO.getYaw();
   }
-
-  public void resetGyro() {
-    gyroIO.reset();
-  }
 }

src/main/java/frc/robot/subsystems/drive/Module.java

@@ -181,12 +181,6 @@ public void stop() {
     velocitySetpoint = null;
   }
 
-  /** Sets whether brake mode is enabled. */
-  public void setBrakeMode(boolean enabled) {
-    io.setDriveBrakeMode(enabled);
-    io.setTurnBrakeMode(enabled);
-  }
-
   /** Returns the current turn angle of the module. */
   public Rotation2d getAngle() {
     return inputs.turnPosition;
@@ -212,17 +206,8 @@ public SwerveModuleState getState() {
     return new SwerveModuleState(getVelocityMetersPerSec(), getAngle());
   }
 
-  /** Returns the module positions received this cycle. */
-  public SwerveModulePosition[] getOdometryPositions() {
-    return odometryPositions;
-  }
-
   /** Returns the timestamps of the samples received this cycle. */
   public double[] getOdometryTimestamps() {
     return inputs.odometryTimestamps;
   }
-
-  public void resetOffset() {
-    io.resetOffset();
-  }
 }

src/main/java/frc/robot/subsystems/drive/ModuleIO.java

@@ -75,6 +75,4 @@ public abstract void setDrivePIDFF(
   public abstract void stop();
 
   public abstract String getModuleName();
-
-  public abstract void resetOffset();
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOReal.java

@@ -342,11 +342,4 @@ public void stop() {
     }
     runTurnVoltage(0);
   }
-
-  public void resetOffset() {
-    if (DriveConstants.wheelsStraight) {
-      absoluteEncoderOffset = Rotation2d.fromRadians(turnRelativeEncoder.getPosition());
-      turnRelativeEncoder.setPosition(getAbsoluteEncoder());
-    }
-  }
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOReplay.java

@@ -34,6 +34,4 @@ public void stop() {}
   public String getModuleName() {
     return null;
   }
-
-  public void resetOffset() {}
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java

@@ -132,6 +132,4 @@ public void stop() {
   public String getModuleName() {
     return name;
   }
-
-  public void resetOffset() {}
 }