Reorganized Bot On Boards

src/main/java/frc/Main.java

@@ -6,8 +6,9 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 import frc.lib2202.builder.Robot;
-import frc.robot2026.RobotSpec_Alpha2026;
-import frc.robot2026.RobotSpec_BotOnBoard1;
+import frc.robot2026.RobotSpec_ChassisBot;
+import frc.robot2026.RobotSpec_BotOnBoard_Zeta;
+import frc.robot2026.RobotSpec_BotOnBoard_Delta;
 import frc.robot2026.RobotSpec_BotOnBoard_Epsilon;
 
 public final class Main {
@@ -16,9 +17,10 @@ private Main() {
     //new RobotSpecDefault();  //example only, don't load spec
 
     // 2026 sub-tree
-    new RobotSpec_Alpha2026(); 
-    new RobotSpec_BotOnBoard1();
+    new RobotSpec_ChassisBot(); 
+    new RobotSpec_BotOnBoard_Zeta();
     new RobotSpec_BotOnBoard_Epsilon();
+    new RobotSpec_BotOnBoard_Delta();
 
   }
   public static void main(String... args) {

src/main/java/frc/robot2026/RobotSpec_BotOnBoard_Delta.java

@@ -0,0 +1,83 @@
+package frc.robot2026;
+
+import static edu.wpi.first.units.Units.DegreesPerSecond;
+import static edu.wpi.first.units.Units.FeetPerSecond;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.lib2202.builder.IRobotSpec;
+import frc.lib2202.builder.RobotContainer;
+import frc.lib2202.builder.RobotLimits;
+import frc.lib2202.builder.SubsystemConfig;
+import frc.lib2202.subsystem.hid.HID_Subsystem;
+import frc.robot2026.Constants.CAN;
+
+public class RobotSpec_BotOnBoard_Delta implements IRobotSpec {
+
+  //Bot On Board Delta
+  // $env:serialnum = "3061025"
+  final SubsystemConfig ssconfig = new SubsystemConfig("BotOnBoard_Delta", "3061025")
+      // Add the subsystems or components use by this Bot-on-Board    
+      // Bot-On-Board can always use controlers for test binding
+       .add(HID_Subsystem.class, "DC", () -> {
+        return new HID_Subsystem(0.3, 0.9, 0.05);
+      })
+      .add(PowerDistribution.class, "PDP", () -> {
+        var pdp = new PowerDistribution(CAN.PDP, ModuleType.kRev);
+        pdp.clearStickyFaults();
+        return pdp;
+      });
+
+
+  // Robot Speed Limits
+  RobotLimits robotLimits = new RobotLimits(FeetPerSecond.of(15.0), DegreesPerSecond.of(180.0));
+
+  public RobotSpec_BotOnBoard_Delta() {
+    // add the specs to the ssconfig
+    ssconfig.setRobotSpec(this);
+  }
+
+  // Required method that use the specs above
+
+  @Override
+  public RobotLimits getRobotLimits() {
+    return robotLimits;
+  }
+
+  @Override
+  public void setBindings() {
+    HID_Subsystem dc = RobotContainer.getSubsystemOrNull("DC");
+    if (dc == null ){
+        // BOB doesn't need DC. Return early if DC doesn't exist
+        System.out.println("Warning: DC doesn't exist not setting bindings");
+      return;
+    }
+
+    // show what cmds are running
+    SmartDashboard.putData(CommandScheduler.getInstance());
+  }
+
+  SendableChooser<Command> autoChooser;
+
+  @Override
+  public void setupRegisteredCommands() {
+
+  }
+
+  @Override
+  public SendableChooser<Command> getChooser() { 
+    return autoChooser;  //this is null, unlesse we setup autoChooser
+  }
+
+  @Override
+  public void setDefaultCommands() {
+
+  }
+
+
+
+}

src/main/java/frc/robot2026/RobotSpec_BotOnBoard_Epsilon.java

@@ -20,7 +20,7 @@ public class RobotSpec_BotOnBoard_Epsilon implements IRobotSpec {
 
   //Bot On Board Epsilon
   // $env:serialnum = "0326F275"
-  final SubsystemConfig ssconfig = new SubsystemConfig("BOBEpsilon", "0326F275")
+  final SubsystemConfig ssconfig = new SubsystemConfig("BotOnBoard_Epsilon", "0326F275")
       // Add the subsystems or components use by this Bot-on-Board    
       // Bot-On-Board can always use controlers for test binding
        .add(HID_Subsystem.class, "DC", () -> {

src/main/java/frc/robot2026/RobotSpec_BotOnBoard1.java → src/main/java/frc/robot2026/RobotSpec_BotOnBoard_Zeta.java

@@ -19,9 +19,9 @@
 import frc.robot2026.Constants.CAN;
 import frc.robot2026.subsystems.Shooter.Shooter;
 
-public class RobotSpec_BotOnBoard1 implements IRobotSpec {
+public class RobotSpec_BotOnBoard_Zeta implements IRobotSpec {
   // $env:serialnum = "0312db1a"
-  final SubsystemConfig ssconfig = new SubsystemConfig("BotOnBoard", "0312db1a")
+  final SubsystemConfig ssconfig = new SubsystemConfig("BotOnBoard_Zeta", "0312db1a")
       // deferred construction via Supplier<Object> lambda
       .add(PowerDistribution.class, "PDP", () -> {
         var pdp = new PowerDistribution(CAN.PDP, ModuleType.kRev);
@@ -62,7 +62,7 @@ public class RobotSpec_BotOnBoard1 implements IRobotSpec {
       new PIDFController(0.01, 0.0, 0.0, 0.0) // angle
   );
 
-  public RobotSpec_BotOnBoard1() {
+  public RobotSpec_BotOnBoard_Zeta() {
     // finish BetaBot's drivePIDF
     // add the specs to the ssconfig
     ssconfig.setRobotSpec(this);

src/main/java/frc/robot2026/RobotSpec_Alpha2026.java → src/main/java/frc/robot2026/RobotSpec_ChassisBot.java

@@ -39,13 +39,13 @@
 import frc.robot2026.subsystems.LimelightV2;
 import frc.robot2026.subsystems.VisionPoseEstimator;
 
-public class RobotSpec_Alpha2026 implements IRobotSpec {
+public class RobotSpec_ChassisBot implements IRobotSpec {
 
 
   // Subsystems and other hardware on 2025 Robot rev Alpha
   // This should be the chassis bot.
   // $env:serialnum = "03282B65"
-  final SubsystemConfig ssconfig = new SubsystemConfig("Alpha2026", "03282B65")
+  final SubsystemConfig ssconfig = new SubsystemConfig("ChassisBot", "03282B65")
       // deferred construction via Supplier<Object> lambda
       .add(PowerDistribution.class, "PDP", () -> {
         var pdp = new PowerDistribution(CAN.PDP, ModuleType.kRev);
@@ -101,7 +101,7 @@ public class RobotSpec_Alpha2026 implements IRobotSpec {
       new PIDFController(0.01, 0.0, 0.0, 0.0) // angle
   );
 
-  public RobotSpec_Alpha2026() {
+  public RobotSpec_ChassisBot() {
     // finish BetaBot's drivePIDF
     chassisConfig.drivePIDF.setIZone(0.2);
     // add the specs to the ssconfig