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State machine update #32

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Merged
TaylerUva merged 3 commits into from
May 30, 2026
Merged

State machine update #32

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6c8eac3
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Wu-Fan-529 May 30, 2026
618ddbe
Merge branch 'main' into state-machine-update
Wu-Fan-529 May 30, 2026
4aa103d
rename
Wu-Fan-529 May 30, 2026
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144 changes: 73 additions & 71 deletions robot.tldr
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1021,7 +1021,7 @@
"content": [
{
"type": "text",
"text": "PrepOutpost"
"text": "PrepCorner"
}
]
}
Expand Down Expand Up @@ -1527,9 +1527,9 @@
"typeName": "shape"
},
{
"x": 1437.7135323324935,
"y": 609.7763774002664,
"z": 0.5118547064274089,
"x": 2622.341679669581,
"y": 552.5721428142112,
"z": 0.1697572539181728,
"meta": {},
"id": "camera:page:page",
"typeName": "camera"
Expand Down Expand Up @@ -2479,9 +2479,9 @@
"typeName": "shape"
},
{
"x": 35.6185390788759,
"y": -388.77198142774375,
"z": 0.45999600772910526,
"x": 206.3569147328484,
"y": 1852.994123336534,
"z": 0.12395093385564669,
"meta": {},
"id": "camera:page:grvVnvcP2QYOnDHPI3N7D",
"typeName": "camera"
Expand Down Expand Up @@ -4102,7 +4102,7 @@
"content": [
{
"type": "text",
"text": "PrepDepot"
"text": "PrepTrench"
}
]
}
Expand Down Expand Up @@ -4754,55 +4754,6 @@
},
"typeName": "binding"
},
{
"x": 1491.9403107486967,
"y": 801.9492269705042,
"rotation": 0,
"isLocked": false,
"opacity": 1,
"meta": {},
"id": "shape:umL1XwXpphIIVogXlqhur",
"type": "geo",
"props": {
"w": 199,
"h": 64,
"geo": "rectangle",
"dash": "solid",
"growY": 26,
"url": "",
"scale": 1,
"color": "black",
"labelColor": "black",
"fill": "semi",
"size": "m",
"font": "mono",
"align": "middle",
"verticalAlign": "middle",
"richText": {
"type": "doc",
"attrs": {
"dir": "auto"
},
"content": [
{
"type": "paragraph",
"attrs": {
"dir": "auto"
},
"content": [
{
"type": "text",
"text": "PrepOpponentToAlliance"
}
]
}
]
}
},
"parentId": "page:Wfhj8q2d0tvavwNlrwo_4",
"index": "a93veXnV",
"typeName": "shape"
},
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"meta": {},
"id": "binding:gvJ-9TZwEf1N2PqRgz7Mv",
Expand Down Expand Up @@ -5196,6 +5147,55 @@
"index": "a6LP3oUG",
"typeName": "shape"
},
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"y": 556.6181109224157,
"rotation": 0,
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"opacity": 1,
"meta": {},
"id": "shape:oWbO0p3d5-Do7I6M4YhSN",
"type": "geo",
"props": {
"w": 340.95818501915346,
"h": 91.375,
"geo": "rectangle",
"dash": "solid",
"growY": 0,
"url": "",
"scale": 1,
"color": "black",
"labelColor": "black",
"fill": "semi",
"size": "m",
"font": "mono",
"align": "middle",
"verticalAlign": "middle",
"richText": {
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"attrs": {
"dir": "auto"
},
"content": [
{
"type": "paragraph",
"attrs": {
"dir": "auto"
},
"content": [
{
"type": "text",
"text": "PrepOpponentToAllience"
Comment thread
TaylerUva marked this conversation as resolved.
}
]
}
]
}
},
"parentId": "shape:uGRWI4m6QItFOSMyV6rxb",
"index": "aIXuxUml",
"typeName": "shape"
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{
"meta": {},
"id": "page:grvVnvcP2QYOnDHPI3N7D",
Expand Down Expand Up @@ -5290,7 +5290,7 @@
"content": [
{
"type": "text",
"text": "PrepNeautralToAlliance"
"text": "PrepTower"
}
]
}
Expand Down Expand Up @@ -6186,7 +6186,7 @@
"content": [
{
"type": "text",
"text": "PrepTrench"
"text": "PrepHub"
}
]
}
Expand Down Expand Up @@ -6253,7 +6253,7 @@
"content": [
{
"type": "text",
"text": "PrepDepot"
"text": "PrepCorner"
}
]
}
Expand Down Expand Up @@ -6551,10 +6551,12 @@
"typeName": "binding"
},
{
"editingShapeId": null,
"editingShapeId": "shape:iv5HxmgE8cO6VlR2ztcz_",
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"erasingShapeIds": [],
"hintingShapeIds": [],
"focusedGroupId": null,
Expand Down Expand Up @@ -6654,7 +6656,7 @@
"content": [
{
"type": "text",
"text": "PrepOutpost"
"text": "PrepHub"
}
]
}
Expand Down Expand Up @@ -6725,13 +6727,13 @@
"rotation": 0
},
"isFocusMode": false,
"exportBackground": false,
"exportBackground": true,
"isDebugMode": false,
"isToolLocked": false,
"screenBounds": {
"x": 0,
"y": 0,
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"w": 660,
"h": 614
},
"insets": [
Expand All @@ -6749,7 +6751,7 @@
"isFocused": true,
"devicePixelRatio": 1,
"isCoarsePointer": false,
"isHoveringCanvas": true,
"isHoveringCanvas": false,
"openMenus": [],
"isChangingStyle": false,
"isReadonly": false,
Expand Down Expand Up @@ -6842,7 +6844,7 @@
"content": [
{
"type": "text",
"text": "PrepNonOutpost"
"text": "PrepTower"
}
]
}
Expand Down Expand Up @@ -7569,9 +7571,9 @@
"typeName": "binding"
},
{
"x": -1270.9068628616665,
"y": 108.77784649388366,
"z": 0.460400531117024,
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"z": 0.6471544470914002,
"meta": {},
"id": "camera:page:Wfhj8q2d0tvavwNlrwo_4",
"typeName": "camera"
Expand Down
13 changes: 8 additions & 5 deletions ...robot/commands/states/PrepNonOutpost.java → ...frc/robot/commands/states/PrepCorner.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,23 +6,26 @@

import edu.wpi.first.wpilibj2.command.Command;

public class PrepNonOutpost extends Command {
public class PrepCorner extends Command {
/** Creates a new PrepNonOutpost. */
public PrepNonOutpost() {
public PrepCorner() {
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {}
public void execute() {
}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
}

// Returns true when the command should end.
@Override
Expand Down
4 changes: 2 additions & 2 deletions .../frc/robot/commands/states/PrepDepot.java → ...va/frc/robot/commands/states/PrepHub.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@

import edu.wpi.first.wpilibj2.command.Command;

public class PrepDepot extends Command {
public class PrepHub extends Command {
/** Creates a new PrepDepot. */
public PrepDepot() {
public PrepHub() {
// Use addRequirements() here to declare subsystem dependencies.
}

Expand Down
13 changes: 8 additions & 5 deletions ...rc/robot/commands/states/PrepOutpost.java → .../frc/robot/commands/states/PrepTower.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,23 +6,26 @@

import edu.wpi.first.wpilibj2.command.Command;

public class PrepOutpost extends Command {
public class PrepTower extends Command {
/** Creates a new PrepOutpost. */
public PrepOutpost() {
public PrepTower() {
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {}
public void execute() {
}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
}

// Returns true when the command should end.
@Override
Expand Down
2 changes: 0 additions & 2 deletions src/main/java/frc/robot/subsystems/StateMachine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -46,11 +46,9 @@ public enum RobotState {
NONE,
INTAKING,
PREP_CORNER,
PREP_DEPOT,
PREP_HUB,
PREP_TRENCH,
PREP_ANYWHERE,
PREP_NON_OUTPOST,
PREP_TOWER,
PREP_NEUTRAL_TO_ALLIANCE,
PREP_OPPONENT_TO_ALLIANCE,
Expand Down
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