Slow mode

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

@@ -68,6 +68,8 @@ public final class VisionConstants {
   }
 
   public final class DrivetrainConstants {
+    public static final double SLOW_MODE_CONSTANT = 20.0;
+    public static boolean SLOW_MODE = false;
     // Fill in
   }
 

src/main/java/frc/robot/RobotContainer.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.Constants.DrivetrainConstants;
 import frc.robot.Constants.FieldConstants.Targets;
 import frc.robot.autos.AutoRoutines;
 import frc.robot.commands.DriveCommands;
@@ -151,6 +152,9 @@ public void updateUserInput() {
       superstructure.armDown();
     } else if (input.rightJoystickButton(6)) {
       superstructure.climb();
+    } else if (input.rightJoystickButton(7)) {
+      DrivetrainConstants.SLOW_MODE = !DrivetrainConstants.SLOW_MODE;
+      System.out.println("you are toggling slowmode");
     } else {
       superstructure.idle();
     }

src/main/java/frc/robot/Superstructure.java

@@ -11,8 +11,8 @@
 package frc.robot;
 
 import com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.math.util.Units;
+import frc.robot.Constants.ArmConstants;
 import frc.robot.subsystems.conveyor.Conveyor;
 import frc.robot.subsystems.elevatorarm.Arm;
 import frc.robot.subsystems.elevatorarm.Arm.ArmStates;
@@ -22,7 +22,6 @@
 import frc.robot.util.LoggedTunableNumber;
 import frc.robot.util.LookupTable;
 import org.littletonrobotics.junction.Logger;
-import frc.robot.Constants.ArmConstants;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a

src/main/java/frc/robot/commands/DriveCommands.java

@@ -23,6 +23,7 @@
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants.DrivetrainConstants;
 import frc.robot.Constants.FieldConstants;
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.drive.Drive;
@@ -33,6 +34,7 @@
 
 public class DriveCommands {
   private static final double DEADBAND = 0.1;
+  private static double linearMagnitude;
 
   private DriveCommands() {}
 
@@ -47,9 +49,18 @@ public static Command joystickDrive(
     return Commands.run(
         () -> {
           // Apply deadband
-          double linearMagnitude =
-              MathUtil.applyDeadband(
-                  Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND);
+          if (DrivetrainConstants.SLOW_MODE == false) {
+            linearMagnitude =
+                MathUtil.applyDeadband(
+                    Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND);
+          } else {
+            linearMagnitude =
+                MathUtil.applyDeadband(
+                    Math.hypot(
+                        xSupplier.getAsDouble() / DrivetrainConstants.SLOW_MODE_CONSTANT,
+                        ySupplier.getAsDouble() / DrivetrainConstants.SLOW_MODE_CONSTANT),
+                    DEADBAND);
+          }
           Rotation2d linearDirection =
               new Rotation2d(xSupplier.getAsDouble(), ySupplier.getAsDouble());
           double omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND);

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

@@ -98,31 +98,31 @@ public ModuleIOTalonFX(int index) {
         driveTalon = new TalonFX(13, "Takeover");
         turnTalon = new TalonFX(11, "Takeover");
         cancoder = new CANcoder(12, "Takeover");
-        absoluteEncoderOffset = new Rotation2d(0.069); // 0.069
+        absoluteEncoderOffset = new Rotation2d(-2.979); // 0.069
         // Uncomment for jynx
         // absoluteEncoderOffset = new Rotation2d(-3.123 + Math.PI);
         break;
       case 1: // Front Right
         driveTalon = new TalonFX(23, "Takeover");
         turnTalon = new TalonFX(21, "Takeover");
         cancoder = new CANcoder(22, "Takeover");
-        absoluteEncoderOffset = new Rotation2d(-1.805); // -1.805
+        absoluteEncoderOffset = new Rotation2d(-.927); // -1.805
         // Uncomment for jynx
         // absoluteEncoderOffset = new Rotation2d(-.928 + Math.PI); // 2.778
         break;
       case 2: // Back RIGHT
         driveTalon = new TalonFX(43, "Takeover");
         turnTalon = new TalonFX(41, "Takeover");
         cancoder = new CANcoder(32, "Takeover");
-        absoluteEncoderOffset = new Rotation2d(0.604); // 0.604
+        absoluteEncoderOffset = new Rotation2d(-1.68); // 0.604
         // Uncomment for jynx
         // absoluteEncoderOffset = new Rotation2d(1.474 + Math.PI); // -2.551
         break;
       case 3: // Back LEFT
         driveTalon = new TalonFX(33, "Takeover");
         turnTalon = new TalonFX(31, "Takeover");
         cancoder = new CANcoder(42, "Takeover");
-        absoluteEncoderOffset = new Rotation2d(1.977); // 1.977
+        absoluteEncoderOffset = new Rotation2d(0.313); // 1.977
         // Uncomment for jynx
         // absoluteEncoderOffset = new Rotation2d(-2.686 + Math.PI); // -1/717
         break;

src/main/java/frc/robot/subsystems/user_input/UserInput.java

@@ -33,6 +33,7 @@ public static UserInput getInstance() {
   private final XboxController operatorController;
 
   private UserInput() {
+
     leftJoystick = new BandedJoystick(LEFT_JOYSTICK, 0.1, 0.1);
     rightJoystick = new BandedJoystick(RIGHT_JOYSTICK, 0.1, 0.1);
     leftXInput = Smoother.wrap(2, leftJoystick::getXBanded);

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
   "fileName": "PathplannerLib.json",
   "name": "PathplannerLib",
-  "version": "2024.2.3",
+  "version": "2024.2.4",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,15 +12,15 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2024.2.3"
+      "version": "2024.2.4"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2024.2.3",
+      "version": "2024.2.4",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,

vendordeps/REVLib.json

@@ -1,7 +1,7 @@
 {
   "fileName": "REVLib.json",
   "name": "REVLib",
-  "version": "2024.2.1",
+  "version": "2024.2.2",
   "frcYear": "2024",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-java",
-      "version": "2024.2.1"
+      "version": "2024.2.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2024.2.1",
+      "version": "2024.2.2",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -37,7 +37,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-cpp",
-      "version": "2024.2.1",
+      "version": "2024.2.2",
       "libName": "REVLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -55,7 +55,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2024.2.1",
+      "version": "2024.2.2",
       "libName": "REVLibDriver",
       "headerClassifier": "headers",
       "sharedLibrary": false,