merging

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id 'com.diffplug.spotless' version '6.24.0'
 }
 

src/main/java/org/sciborgs1155/robot/Ports.java

@@ -24,4 +24,10 @@ public static final class Elevator {
     public static final int LEADER = -1;
     public static final int FOLLOWER = -1;
   }
+
+  public static final class Scoral {
+    public static final int TOP_ROLLER = 21;
+    public static final int BOTTOM_ROLLER = 22;
+    public static final int BEAMBREAK = 23;
+  }
 }

src/main/java/org/sciborgs1155/robot/scoral/NoScoral.java

@@ -0,0 +1,12 @@
+package org.sciborgs1155.robot.scoral;
+
+public class NoScoral implements ScoralIO {
+
+  @Override
+  public void setPower(double power) {}
+
+  @Override
+  public boolean beambreak() {
+    return false;
+  }
+}

src/main/java/org/sciborgs1155/robot/scoral/RealScoral.java

@@ -0,0 +1,30 @@
+package org.sciborgs1155.robot.scoral;
+
+import static org.sciborgs1155.robot.Ports.Scoral.*;
+
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import edu.wpi.first.wpilibj.DigitalInput;
+
+public class RealScoral implements ScoralIO {
+
+  private final SparkMax topMotor;
+  private final SparkMax bottomMotor;
+
+  private final DigitalInput beambreak;
+
+  public RealScoral() {
+    topMotor = new SparkMax(TOP_ROLLER, MotorType.kBrushed);
+    bottomMotor = new SparkMax(BOTTOM_ROLLER, MotorType.kBrushed);
+
+    beambreak = new DigitalInput(BEAMBREAK);
+  }
+
+  @Override
+  public void setPower(double power) {}
+
+  @Override
+  public boolean beambreak() {
+    return beambreak.get();
+  }
+}

src/main/java/org/sciborgs1155/robot/scoral/Scoral.java

@@ -0,0 +1,39 @@
+package org.sciborgs1155.robot.scoral;
+
+import static org.sciborgs1155.robot.scoral.ScoralConstants.*;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.sciborgs1155.robot.Robot;
+
+public class Scoral extends SubsystemBase {
+
+  private ScoralIO scoral;
+
+  public Scoral(ScoralIO scoral) {
+    this.scoral = scoral;
+  }
+
+  public static Scoral create() {
+    return Robot.isReal() ? new Scoral(new RealScoral()) : new Scoral(new SimScoral());
+  }
+
+  public static Scoral none() {
+    return new Scoral(new NoScoral());
+  }
+
+  /** Runs the motor to outtake, as in pushing out, a coral. */
+  public Command outtake() {
+    return run(() -> scoral.setPower(POWER));
+  }
+
+  /** Runs the motor to intake, as in pulling in, a coral. */
+  public Command intake() {
+    return run(() -> scoral.setPower(-POWER));
+  }
+
+  /** Returns the value of the beambreak. */
+  public boolean beambreak() {
+    return scoral.beambreak();
+  }
+}

src/main/java/org/sciborgs1155/robot/scoral/ScoralConstants.java

@@ -0,0 +1,5 @@
+package org.sciborgs1155.robot.scoral;
+
+public class ScoralConstants {
+  public static final double POWER = 0.5;
+}

src/main/java/org/sciborgs1155/robot/scoral/ScoralIO.java

@@ -0,0 +1,8 @@
+package org.sciborgs1155.robot.scoral;
+
+public interface ScoralIO {
+
+  void setPower(double power);
+
+  boolean beambreak();
+}

src/main/java/org/sciborgs1155/robot/scoral/SimScoral.java

@@ -0,0 +1,12 @@
+package org.sciborgs1155.robot.scoral;
+
+public class SimScoral implements ScoralIO {
+
+  @Override
+  public void setPower(double power) {}
+
+  @Override
+  public boolean beambreak() {
+    return false;
+  }
+}

src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java

@@ -13,7 +13,7 @@
 
 public class VisionConstants {
   public static final AprilTagFieldLayout TAG_LAYOUT =
-      AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+      AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
 
   /** TODO: Create cameras with updated constants; be sure to add in {@link Vision#create} */
   // WARNING: EMPTY TRANSFORMS WILL CRASH SIMULATION UPON TAG DETECTION
@@ -38,10 +38,15 @@ public class VisionConstants {
   public static final double MAX_HEIGHT = 0.305;
   public static final double MAX_ANGLE = 0.3;
 
-  /** TODO: Modify AprilTag information as needed. */
-  // Total of n AprilTags
-  // Reference:
-  // Tag Locations (1-n) | Description...
-
-  public static final double[] TAG_WEIGHTS = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
+  // Total of 22 AprilTags
+  // Reference: https://firstfrc.blob.core.windows.net/frc2025/Manual/2025GameManual.pdf (page 35)
+  // Tag Locations (1-22)
+  // Reef | Red: 6-11, Blue: 17-22
+  // Cage | Red Side: 4-5, Blue Side: 14-15
+  // Coral Station | Red Side: 1-2, Blue Side: 12-13
+  // Processor | Red Side: 3 | Blue Side: 16
+
+  public static final double[] TAG_WEIGHTS = {
+    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
+  };
 }