manually resolve merge conflicts, mess with LEDS

manually merge the 1000s of merge conflicts by copy pasting the files in

blueprint some vision code and pray it works, fingers crossed for next year

src/main/deploy/pathplanner/paths/N8-ShotC.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.378792911431978,
+        "y": 0.828823196107932
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.257236952795264,
+        "y": 0.8288231961079319
+      },
+      "isLocked": false,
+      "linkedName": "N8"
+    },
+    {
+      "anchor": {
+        "x": 0.787031987758696,
+        "y": 4.391563704668065
+      },
+      "prevControl": {
+        "x": 0.9275104323519487,
+        "y": 3.3212331676900417
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 122.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/Robot.java

@@ -4,36 +4,64 @@
 
 package frc.robot;
 
+// import com.ctre.phoenix6.SignalLogger;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.Gyro; // Gyro added for some auton-teleop control // Added by Scoy
+
+@SuppressWarnings("unused")
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
 
+  private Gyro gyro = new Gyro(); // Added by Scoy
+
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
+    // DO NOT LEAVE THIS UNCOMMENTED DURING COMPETITION
+    // SignalLogger.setPath("/media/sda1/");
+    // SignalLogger.start();
+    CameraServer.startAutomaticCapture();
+    // Creates the CvSink and connects it to the UsbCamera
+    CvSink cvSink = CameraServer.getVideo();
+    NetworkTableInstance.getDefault().getTable("limelight-speedy").getEntry("stream").setNumber(2);
+
+    // Creates the CvSource and MjpegServer [2] and connects them
+
   }
 
   @Override
   public void robotPeriodic() {
-    CommandScheduler.getInstance().run(); 
+    CommandScheduler.getInstance().run();
   }
 
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+  }
 
   @Override
-  public void disabledExit() {}
+  public void disabledExit() {
+  }
 
   @Override
   public void autonomousInit() {
+
+    // gyro.setAutonStartingPose180(180);
+    // gyro.setAutonStartingPose(-180); // Seems to impact Teleop more than auton
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
@@ -42,35 +70,62 @@ public void autonomousInit() {
   }
 
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
-  public void autonomousExit() {}
+  public void autonomousExit() {
+  }
 
   @Override
   public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
-  }
+    // Shaun's Pre-Field Additions: 4-2-24
+    // Some things to try to reset the gyro
+
+    // This one probably won't work; it's equivalent to Rkyer just pressing Start.
+    // m_robotContainer.drivetrain.seedFieldRelative();
+
+    // This one also probably won't work.
+    // m_robotContainer.drivetrain.getPigeon2().setYaw(0);
+
+    // I have some hope for this!
+    // m_robotContainer.drivetrain.getPigeon2().setYaw(180);
+
+    // This one is nasty, and I don't have a great understanding of it; delete this
+    // method if we don't use it. It pretty much does the same as seedFieldRelative
+    // but with an additional 180 degrees
+    // m_robotContainer.drivetrain.saltFieldRelative();
+
+  // new InstantCommand(gyro::setStartingPoseBasedOnAlliance);
+
+}
 
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    // SmartDashboard.putNumber("Gyro Pose", gyro.getYaw());
+  }
 
   @Override
-  public void teleopExit() {}
+  public void teleopExit() {
+  }
 
   @Override
   public void testInit() {
     CommandScheduler.getInstance().cancelAll();
   }
 
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 
   @Override
-  public void testExit() {}
+  public void testExit() {
+  }
 
   @Override
-  public void simulationPeriodic() {}
-}
+  public void simulationPeriodic() {
+  }
+}