Update stuff (#7)

* Implement Full Logging and Drivetrain Subsystem (#1)

* Da Code

* Add alerts on drive spark maxes

* Add Config Changes from Meeting

* Other lil bs

* Add automatic brake disable on robot disable

* add odometry

* add SIM module

* Add DriveCommands

* Update RobotContainer.java

* Formatting fixes

* Misc Fixes

* Add low voltage warning for DT

* Add velocity scalars for DT

* Update PID Coefficents and fix odometry issues

* Update URCL.json

---------

Fix CI

Co-Authored-By: Talon540-root <[email protected]>

* Increase voltage warning on battery and add CAN error alert

* clean

* Fix Modules Falsely Reporting as Disconnected

* Cleanup typing, make errors more obvious

* Cleanup dashboard setting stuff

* Update sim characterization constants to be more accurate, stops a massive overshooting for some reason

* Log drive motor temps

* Formatting fixes

* Inline tuning mode alert

* Rename RobotState to PoseEstimator

Because only vision and drive will interact with pose (and purely position) and no other robot state is tracked, it makes more sense for this to be renammed to reflect that.

* Refactor abstract alerts into util class to later roll into LEDs

* Update Phoenix6 to 2025.2.2

* Refactor code structure to not over-expose subsystem specific stuff

* Shorten name for drive temp

* Fix red alliance drive commands bug

* Update WPILIB to 2025.3.1

---------

Co-authored-by: Talon540-root <[email protected]>

Author: srimanachanta

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.1"
     id "com.peterabeles.gversion" version "1.10.3"
     id "com.diffplug.spotless" version "7.0.2"
     id "io.freefair.lombok" version "8.11"

src/main/java/frc/robot/RobotState.java renamed to src/main/java/frc/robot/PoseEstimator.java

@@ -11,32 +11,32 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
-import frc.robot.subsystems.drive.DriveConstants;
+import frc.robot.subsystems.drive.DriveBase;
 import lombok.Getter;
 import org.littletonrobotics.junction.AutoLogOutput;
 
-public class RobotState {
+public class PoseEstimator {
   // Standard deviations of the pose estimate (x position in meters, y position in meters, and
   // heading in radians).
   // Increase these numbers to trust your state estimate less.
   private static final Matrix<N3, N1> odometryStateStdDevs = VecBuilder.fill(0.003, 0.003, 0.002);
   private static final double poseBufferSizeSec = 2.0;
 
-  private static RobotState instance;
+  private static PoseEstimator instance;
 
-  public static RobotState getInstance() {
+  public static PoseEstimator getInstance() {
     if (instance == null) {
-      instance = new RobotState();
+      instance = new PoseEstimator();
     }
     return instance;
   }
 
   @Getter
-  @AutoLogOutput(key = "RobotState/OdometryPose")
+  @AutoLogOutput(key = "PoseEstimator/OdometryPose")
   private Pose2d odometryPose = new Pose2d();
 
   @Getter
-  @AutoLogOutput(key = "RobotState/EstimatedPose")
+  @AutoLogOutput(key = "PoseEstimator/EstimatedPose")
   private Pose2d estimatedPose = new Pose2d();
 
   private final TimeInterpolatableBuffer<Pose2d> poseBuffer =
@@ -55,12 +55,12 @@ public static RobotState getInstance() {
   // Assume gyro starts at zero
   private Rotation2d gyroOffset = new Rotation2d();
 
-  private RobotState() {
+  private PoseEstimator() {
     for (int i = 0; i < 3; ++i) {
       qStdDevs.set(i, 0, Math.pow(odometryStateStdDevs.get(i, 0), 2));
     }
 
-    kinematics = new SwerveDriveKinematics(DriveConstants.moduleTranslations);
+    kinematics = new SwerveDriveKinematics(DriveBase.getModuleTranslations());
   }
 
   public void resetPose(Pose2d pose) {

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

@@ -13,14 +13,12 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.Threads;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.util.AlertsUtil;
 import frc.robot.util.LoggerUtil;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
@@ -37,20 +35,9 @@
  * project.
  */
 public class Robot extends LoggedRobot {
-  private static final double LOW_VOLTAGE_WARNING_THRESHOLD = 11.75;
-
   private Command autonomousCommand;
   private final RobotContainer robotContainer;
 
-  // System Alerts
-  private final Alert canErrorAlert =
-      new Alert("CAN errors detected, robot may not be controllable.", AlertType.kError);
-  private final Debouncer canErrorDebouncer = new Debouncer(0.5);
-
-  private final Alert lowBatteryVoltageAlert =
-      new Alert("Battery voltage is too low, change the battery", Alert.AlertType.kWarning);
-  private final Debouncer batteryVoltageDebouncer = new Debouncer(1.5);
-
   public Robot() {
     super(Constants.kLoopPeriodSecs);
 
@@ -100,16 +87,7 @@ public void robotPeriodic() {
     // Run command scheduler
     CommandScheduler.getInstance().run();
 
-    // Check CAN status
-    var canStatus = RobotController.getCANStatus();
-    canErrorAlert.set(
-        canErrorDebouncer.calculate(
-            canStatus.transmitErrorCount > 0 || canStatus.receiveErrorCount > 0));
-
-    // Update Battery Voltage Alert
-    lowBatteryVoltageAlert.set(
-        batteryVoltageDebouncer.calculate(
-            RobotController.getBatteryVoltage() <= LOW_VOLTAGE_WARNING_THRESHOLD));
+    AlertsUtil.getInstance().periodic();
 
     // Return to normal thread priority
     Threads.setCurrentThreadPriority(false, 10);

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

@@ -2,18 +2,18 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.DriveCommands;
 import frc.robot.subsystems.drive.*;
+import frc.robot.util.AlertsUtil;
 import frc.robot.util.AllianceFlipUtil;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 public class RobotContainer {
-  // Load RobotState class
-  private final RobotState robotState = RobotState.getInstance();
+  // Load PoseEstimator class
+  private final PoseEstimator poseEstimator = PoseEstimator.getInstance();
 
   // Subsystems
   private final DriveBase driveBase;
@@ -59,14 +59,12 @@ public RobotContainer() {
     autoChooser = new LoggedDashboardChooser<>("Auto Choices");
 
     if (Constants.TUNING_MODE) {
-      new Alert("Robot in Tuning Mode", Alert.AlertType.kInfo).set(true);
-
       // Set up Characterization routines
       autoChooser.addOption(
-          "Drive Wheel Radius Characterization",
-          DriveCommands.wheelRadiusCharacterization(driveBase));
+          "Drive Wheel Radius Characterization", driveBase.wheelRadiusCharacterization());
       autoChooser.addOption(
-          "Drive Simple FF Characterization", DriveCommands.feedforwardCharacterization(driveBase));
+          "Drive Simple FF Characterization", driveBase.feedforwardCharacterization());
+    }
     }
 
     configureButtonBindings();
@@ -94,16 +92,16 @@ private void configureButtonBindings() {
     // Switch to X pattern when X button is pressed
     controller.x().onTrue(Commands.runOnce(driveBase::stopWithX, driveBase));
 
-    // Reset gyro to 0° when B button is pressed
+    // Reset gyro to 0° when B button is pressed
     controller
         .b()
         .onTrue(
             Commands.runOnce(
                     () ->
-                        RobotState.getInstance()
+                        PoseEstimator.getInstance()
                             .resetPose(
                                 new Pose2d(
-                                    RobotState.getInstance().getEstimatedPose().getTranslation(),
+                                    PoseEstimator.getInstance().getEstimatedPose().getTranslation(),
                                     AllianceFlipUtil.apply(new Rotation2d()))),
                     driveBase)
                 .ignoringDisable(true));