resolve intake merge conflicts

.gitignore

@@ -138,6 +138,7 @@ $RECYCLE.BIN/
 ### Gradle ###
 .gradle
 /build/
+BuildConstants.kt
 
 # Ignore Gradle GUI config
 gradle-app.setting
@@ -168,5 +169,8 @@ out/
 # Fleet
 .fleet
 
+
 # Simulation GUI and other tools window save file
 *-window.json
+
+src/main/kotlin/com/team4099/robot2023/BuildConstants.kt

build.gradle

@@ -83,7 +83,7 @@ dependencies {
 	simulationRelease wpi.sim.enableRelease()
 
 	implementation 'org.jetbrains.kotlin:kotlin-test-junit5'
-	implementation 'com.github.team4099:FalconUtils:1.1.26'
+	implementation 'com.github.team4099:FalconUtils:1.1.28'
 	implementation 'org.apache.commons:commons-collections4:4.0'
 	implementation 'com.google.code.gson:gson:2.10.1'
 	implementation "io.javalin:javalin:5.3.2"

src/main/kotlin/com/team4099/lib/phoenix6/PositionVoltage.kt

@@ -12,6 +12,7 @@ import org.team4099.lib.units.perSecond
 import com.ctre.phoenix6.controls.PositionVoltage as PositionVoltagePhoenix6
 
 class PositionVoltage(
+
     private var position: Angle, // Assuming an AngularPosition type exists similar to AngularVelocity
     private var enableFOC: Boolean = true,
     private var feedforward: ElectricalPotential = 0.0.volts,
@@ -20,6 +21,7 @@ class PositionVoltage(
     private var limitForwardMotion: Boolean = false,
     private var limitReverseMotion: Boolean = false,
     private var velocity: AngularVelocity = 0.0.degrees.perSecond,
+
 ) {
 
     val positionVoltagePhoenix6 = PositionVoltagePhoenix6(position.inRotations, velocity.inRotationsPerSecond, enableFOC, feedforward.inVolts, slot, overrideBrakeDurNeutral, limitForwardMotion, limitReverseMotion)

src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt

@@ -17,51 +17,6 @@ import org.team4099.lib.units.perSecond
 
 sealed interface Request {
 
-  sealed interface SuperstructureRequest : Request {
-    class Idle() : SuperstructureRequest
-    class Home() : SuperstructureRequest
-
-    class GroundIntakeCube() : SuperstructureRequest
-    class GroundIntakeCone() : SuperstructureRequest
-
-    class EjectGamePiece() : SuperstructureRequest
-
-    class DoubleSubstationIntakePrep(val gamePiece: GamePiece) : SuperstructureRequest
-    class SingleSubstationIntakePrep(val gamePiece: GamePiece) : SuperstructureRequest
-
-    class DoubleSubstationIntake() : SuperstructureRequest
-    class SingleSubstationIntake(val gamePiece: GamePiece) : SuperstructureRequest
-
-    class PrepScore(val gamePiece: GamePiece, val nodeTier: NodeTier) : SuperstructureRequest
-
-    class Score() : SuperstructureRequest
-
-    class Tuning() : SuperstructureRequest
-  }
-
-  // Implements RequestStructure to ensure standardized structure
-  sealed interface ManipulatorRequest : Request {
-    class TargetingPosition(val position: Length, val rollerVoltage: ElectricalPotential) :
-      ManipulatorRequest
-    class OpenLoop(val voltage: ElectricalPotential, val rollerVoltage: ElectricalPotential) :
-      ManipulatorRequest
-    class Home() : ManipulatorRequest
-  }
-
-  sealed interface ElevatorRequest : Request {
-    class TargetingPosition(
-      val position: Length,
-      val finalVelocity: LinearVelocity = 0.0.inches.perSecond,
-      val canContinueBuffer: Length = 5.0.inches
-    ) : ElevatorRequest
-    class OpenLoop(val voltage: ElectricalPotential) : ElevatorRequest
-    class Home : ElevatorRequest
-  }
-
-  sealed interface IntakeRequest : Request {
-    class OpenLoop(val rollerVoltage: ElectricalPotential) : IntakeRequest
-  }
-
   sealed interface DrivetrainRequest : Request {
     class OpenLoop(
       val angularVelocity: AngularVelocity,
@@ -76,4 +31,8 @@ sealed interface Request {
     class ZeroSensors : DrivetrainRequest
     class Idle : DrivetrainRequest
   }
+
+  sealed interface IntakeRequest : Request {
+    class OpenLoop(val rollerVoltage: ElectricalPotential) : IntakeRequest
+  }
 }

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-6",
+    "version": "2024.1.3",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-6"
+            "version": "2024.1.3"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-6",
+            "version": "2024.1.3",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,