.

KitbotPID/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
 }
 
 java {

KitbotPID/src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+    "angleJoystickRadiusDeadband": 0.5,
+    "heading": {
+      "p": 0.4,
+      "i": 0,
+      "d": 0.01
+    }
+  }

KitbotPID/src/main/deploy/swerve/modules/backleft.json

@@ -0,0 +1,27 @@
+{
+    "location": {
+      "front": -12,
+      "left": 12
+    },
+    "absoluteEncoderOffset": 0,
+    "drive": {
+      "type": "falcon",
+      "id": 0,
+      "canbus": null
+    },
+    "angle": {
+      "type": "falcon",
+      "id": 0,
+      "canbus": null
+    },
+    "encoder": {
+      "type": "none",
+      "id": 0,
+      "canbus": null
+    },
+    "inverted": {
+      "drive": false,
+      "angle": false
+    },
+    "absoluteEncoderInverted": false
+  }

KitbotPID/src/main/deploy/swerve/modules/backright.json

@@ -0,0 +1,27 @@
+{
+    "location": {
+      "front": -12,
+      "left": -12
+    },
+    "absoluteEncoderOffset": 0,
+    "drive": {
+      "type": "krakenx60",
+      "id": 0,
+      "canbus": null
+    },
+    "angle": {
+      "type": "falcon",
+      "id": 0,
+      "canbus": null
+    },
+    "encoder": {
+      "type": "none",
+      "id": 0,
+      "canbus": null
+    },
+    "inverted": {
+      "drive": false,
+      "angle": false
+    },
+    "absoluteEncoderInverted": false
+  }

KitbotPID/src/main/deploy/swerve/modules/frontleft.json

@@ -0,0 +1,27 @@
+{
+    "location": {
+      "front": 12,
+      "left": 12
+    },
+    "absoluteEncoderOffset": 0,
+    "drive": {
+      "type": "krakenx60",
+      "id": 0,
+      "canbus": null
+    },
+    "angle": {
+      "type": "falcon",
+      "id": 0,
+      "canbus": null
+    },
+    "encoder": {
+      "type": "none",
+      "id": 0,
+      "canbus": null
+    },
+    "inverted": {
+      "drive": false,
+      "angle": false
+    },
+    "absoluteEncoderInverted": false
+  }

KitbotPID/src/main/deploy/swerve/modules/frontright.json

@@ -0,0 +1,27 @@
+{
+    "location": {
+      "front": 12,
+      "left": -12
+    },
+    "absoluteEncoderOffset": 0,
+    "drive": {
+      "type": "krakenx60",
+      "id": 0,
+      "canbus": null
+    },
+    "angle": {
+      "type": "falcon",
+      "id": 0,
+      "canbus": null
+    },
+    "encoder": {
+      "type": "none",
+      "id": 0,
+      "canbus": null
+    },
+    "inverted": {
+      "drive": false,
+      "angle": false
+    },
+    "absoluteEncoderInverted": false
+  }

KitbotPID/src/main/deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,24 @@
+{
+    "optimalVoltage": 12,
+    "robotMass": 110.2311,
+    "wheelGripCoefficientOfFriction": 1.19,
+    "currentLimit": {
+      "drive": 20,
+      "angle": 20
+    },
+    "conversionFactors": {
+      "angle": {
+        "gearRatio": 0,
+        "factor": 0
+      },
+      "drive": {
+        "diameter": 4,
+        "gearRatio": 6.5,
+        "factor": 0
+      }
+    },
+    "rampRate": {
+      "drive": 0.25,
+      "angle": 0.25
+    }
+  }

KitbotPID/src/main/deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+    "drive": {
+      "p": 0.0020645,
+      "i": 0,
+      "d": 0,
+      "f": 0,
+      "iz": 0
+    },
+    "angle": {
+      "p": 0.0020645,
+      "i": 0,
+      "d": 0,
+      "f": 0,
+      "iz": 0
+    }
+  }

KitbotPID/src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,14 @@
+{
+    "imu": {
+      "type": "navx_onboard",
+      "id": 0,
+      "canbus": null
+    },
+    "invertedIMU": false,
+    "modules": [
+      "frontleft.json",
+      "frontright.json",
+      "backleft.json",
+      "backright.json"
+    ]
+  }

KitbotPID/src/main/java/Dropper/SparkClosedLoopController.java

@@ -0,0 +1,5 @@
+package Dropper;
+
+public class SparkClosedLoopController {
+
+}

KitbotPID/src/main/java/frc/robot/SwerveMovement.java

@@ -0,0 +1,4 @@
+package frc.robot;
+
+public class SwerveMovement {
+);

KitbotPID/src/main/java/frc/robot/commands/SwerveComand.java

@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class SwerveComand extends Command {
+  /** Creates a new SwerveComand. */
+  public SwerveComand() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

KitbotPID/src/main/java/frc/robot/subsystems/CoralReleaser.java

@@ -9,6 +9,7 @@
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkMax;
@@ -19,21 +20,45 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class CoralReleaser extends SubsystemBase {
+
+double kP = 0.0;
+double kI = 0.0;
+double kD = 0.0;
+double targetRPM = 0.0;
   /*
+
    * Creates a Sparkmax Object so we can control the Sparkmax that is plugged into the motor
    * The name of the object is dropper, the ID is 5 and the motor is brushed (it's a CIM motor)
    */
   private SparkMax Dropper = new SparkMax(5,MotorType.kBrushless);
   /*
    *   Hint: Objects and variables are declared here
    */
+  Dropper.SparkClosedLoopController coralController = new Dropper.SparkClosedLoopController();
+    public CoralReleaser() {
+      RelativeEncoder coralEncoder;
+      coralEncoder = Dropper.getEncoder();
 
-
-  public CoralReleaser() {
     /*
      * Hint: This is where the NEO's and Sparkmax's settings and/or configurations are set up.
      * Anything that interacts with the NEOs and Sparkmax goes here too
+
      */
+    SparkMaxConfig DropperConfig = new SparkMaxConfig();
+     // Set PID gains
+    DropperConfig.closedLoop
+  .p(kP).i(kI).d(kD);
+
+
+    CoralReleaser.configure(coralEncoder, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+
+    // Initialize the motor (Flex/MAX are setup the same way)
+
+
+
+
+
+
 
     // For Elastic and Advtange Scope
     SmartDashboard.putNumber("PID/kP", kP);
@@ -45,9 +70,17 @@ public CoralReleaser() {
   /*
    * Hint: New Commands and Methods go here
    */
+
+public Command PIDCMD(double newtargetRPM){
+  return runOnce(
+    () -> {
+      coralController.setReference(newtargetRPM, ControlType.kVelocity);
+    }
+  );
+}
 
   @Override
-  // This method will be called once per scheduler run
+  // This method wll be called once per scheduler run
   public void periodic() {
     // For Elastic and Advtange Scope
     double newP = SmartDashboard.getNumber("PID/kP", kP);
@@ -59,4 +92,7 @@ public void periodic() {
     SmartDashboard.putNumber("Dropper Velocity", coralEncoder.getVelocity()); // Actual velocity
 
   }
+
 }
+
+