added Robot Spec for AlphaBot2026

src/main/java/frc/robot2026/RobotSpec_AlphaBot.java

@@ -0,0 +1,214 @@
+package frc.robot2026;
+
+import static edu.wpi.first.units.Units.DegreesPerSecond;
+import static edu.wpi.first.units.Units.FeetPerSecond;
+import static frc.lib2202.Constants.MperFT;
+import static frc.lib2202.Constants.DEGperRAD;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.commands.PathfindingCommand;
+import com.revrobotics.spark.SparkFlex;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+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.command.swerve.FieldCentricDrive;
+import frc.lib2202.subsystem.Odometry;
+import frc.lib2202.subsystem.OdometryInterface;
+import frc.lib2202.subsystem.Sensors;
+import frc.lib2202.subsystem.UX.TrimTables;
+import frc.lib2202.subsystem.hid.HID_Subsystem;
+import frc.lib2202.subsystem.swerve.AutoPPConfigure;
+import frc.lib2202.subsystem.swerve.DriveTrainInterface;
+import frc.lib2202.subsystem.swerve.IHeadingProvider;
+import frc.lib2202.subsystem.swerve.SwerveDrivetrain;
+import frc.lib2202.subsystem.swerve.config.ChassisConfig;
+import frc.lib2202.subsystem.swerve.config.ModuleConfig;
+import frc.lib2202.subsystem.swerve.config.ModuleConfig.CornerID;
+import frc.lib2202.util.PIDFController;
+import frc.robot2026.Constants.CAN;
+import frc.robot2026.subsystems.LimelightV2;
+import frc.robot2026.subsystems.VisionPoseEstimator;
+
+public class RobotSpec_AlphaBot implements IRobotSpec {
+
+
+  // 2026 Robot rev Alpha(most of code coped from Alpha2025)
+  //io sheet https://docs.google.com/spreadsheets/d/1eZ89R4oWHoCDpM9nOMC420o4i6Zx-Fgi8y4tpiL58a4/edit?gid=2120414614#gid=2120414614
+  // This should be the chassis bot.
+  // $env:serialnum = "25AE07D"
+  final SubsystemConfig ssconfig = new SubsystemConfig("Alpha_Bot2026", "25AE07D")
+      // deferred construction via Supplier<Object> lambda
+      .add(PowerDistribution.class, "PDP", () -> {
+        var pdp = new PowerDistribution(CAN.PDP, ModuleType.kRev);
+        pdp.clearStickyFaults();
+        return pdp;
+      })
+      .add(HID_Subsystem.class, "DC", () -> {
+        return new HID_Subsystem(0.3, 0.9, 0.05);
+      })
+      // Sensors, limelight and drivetrain all use interfaces, so make sure their alias names
+      // match what is given here.
+      .add(Sensors.class, "sensors", ()-> {
+        return new Sensors(CAN.PIGEON_IMU_CAN); })
+      .add(TrimTables.class)
+      .add(LimelightV2.class, "limelight", ()-> {
+        // Limelight position in robot coords - this has LL in the front of bot
+        Pose3d LimelightPosition = new Pose3d((0.7112 / 2.0) - .07, -0.28, .225,
+          new Rotation3d(0.0, 10.0/DEGperRAD, 0.0));
+        return new LimelightV2("limelight", LimelightPosition );
+      })
+      .add(SwerveDrivetrain.class, "drivetrain", () ->{
+          return new SwerveDrivetrain(SparkFlex.class);
+      })
+      .add(OdometryInterface.class, "odometry", () -> {
+        var obj = new Odometry();
+        obj.new OdometryWatcher();
+        return obj;
+      })
+      // VisonPoseEstimator needs LL and Odometry, adds simplename and alias to lookup
+      .addAlias(VisionPoseEstimator.class, "vision_odo") 
+      ;
+
+  // Robot Speed Limits
+  RobotLimits robotLimits = new RobotLimits(FeetPerSecond.of(15.0), DegreesPerSecond.of(180.0));
+
+  // Chassis
+  double kWheelCorrectionFactor = 1.02;
+  double kSteeringGR = 21.428;
+  double kDriveGR = 6.12;
+  double kWheelDiameter = MperFT * 4.0 / 12.0; // [m]
+
+  final ChassisConfig chassisConfig = new ChassisConfig(
+      //0.57785 / 2.0, 
+      //0.57785 / 2.0,  
+      //dpl - 28" x 28"
+      0.7112 / 2.0,  // x,  
+      0.7112 / 2.0,  // y, 
+      kWheelCorrectionFactor, // scale [] <= 1.0
+      kWheelDiameter,
+      kSteeringGR,
+      kDriveGR,
+      new PIDFController(0.085, 0.00055, 0.0, 0.21292), // drive
+      new PIDFController(0.01, 0.0, 0.0, 0.0) // angle
+  );
+
+  public RobotSpec_AlphaBot() {
+    // finish BetaBot's drivePIDF
+    chassisConfig.drivePIDF.setIZone(0.2);
+    // add the specs to the ssconfig
+    ssconfig.setRobotSpec(this);
+  }
+
+  // Required method that use the specs above
+
+  @Override
+  public RobotLimits getRobotLimits() {
+    return robotLimits;
+  }
+
+  @Override
+  public IHeadingProvider getHeadingProvider() {
+    return RobotContainer.getSubsystem("sensors");
+  }
+
+  @Override
+  public ChassisConfig getChassisConfig() {
+    return chassisConfig;
+  }
+  @Override
+  public ModuleConfig[] getModuleConfigs() {
+    //TODO - correct offsets
+    ModuleConfig[] modules = new ModuleConfig[4];
+        modules[CornerID.FrontLeft.getIdx()] = new ModuleConfig(CornerID.FrontLeft,
+        CAN.FL_CANCoder, CAN.FL_Drive, CAN.FL_Angle, 41.17587)
+        .setInversions(false, true, false);
+
+        modules[CornerID.FrontRight.getIdx()] = new ModuleConfig(CornerID.FrontRight,
+        CAN.FR_CANCoder, CAN.FR_Drive, CAN.FR_Angle,-63.98)
+        .setInversions(true, true, false);
+
+        modules[CornerID.BackLeft.getIdx()] = new ModuleConfig(CornerID.BackLeft,
+        CAN.BL_CANCoder, CAN.BL_Drive, CAN.BL_Angle, 50.45)
+        .setInversions(false, true, false);
+
+        modules[CornerID.BackRight.getIdx()] = new ModuleConfig(CornerID.BackRight,
+        CAN.BR_CANCoder, CAN.BR_Drive, CAN.BR_Angle,  -66.27)
+        .setInversions(true, true, false);
+
+    return modules;
+  }
+
+  @Override
+  public void setBindings() {
+    //String odometryName = VisionPoseEstimator.class.getSimpleName(); // or novision "odometry"
+    //TODO switch to vision based when we have a LL
+    OdometryInterface odo = RobotContainer.getSubsystemOrNull("odometry");   
+    DriveTrainInterface sdt = RobotContainer.getSubsystemOrNull("drivetrain");
+    HID_Subsystem dc = RobotContainer.getSubsystem("DC");
+
+    // Initialize PathPlanner, if we have needed Subsystems
+    if (odo != null && sdt != null) {
+      AutoPPConfigure.configureAutoBuilder(sdt, odo);
+      var cmd = PathfindingCommand.warmupCommand();
+      CommandScheduler.getInstance().schedule(cmd);
+    }
+
+    // Competition bindings 
+    BindingsCompetition.ConfigureCompetition(dc, true);
+
+    // Place your test binding in ./testBinding/<yourFile>.java and call it here
+    // comment out any conflicting bindings. Try not to push with your bindings
+    // active. Just comment them out. 
+
+
+    // Anything else that needs to run after binding/commands are created
+    /* 
+    VisionPoseEstimator vpe = RobotContainer.getSubsystemOrNull(VisionPoseEstimator.class);
+    if (vpe != null) 
+      vpe.configureGyroCallback();
+    */
+
+    // show what cmds are running
+    SmartDashboard.putData(CommandScheduler.getInstance());
+  }
+
+  SendableChooser<Command> autoChooser;
+
+  @Override
+  public void setupRegisteredCommands() {
+    RegisteredCommands.RegisterCommands(); 
+
+    //enable chooser - builds autochooser list, requires AutoBuilder to be configured
+    //thus SDT and some form of odometry.  Skip auto if not configured.
+    if (AutoBuilder.isConfigured()) {
+      autoChooser = AutoBuilder.buildAutoChooser();
+      SmartDashboard.putData("Auto Chooser", autoChooser);   
+    }
+  }
+
+  @Override
+  public SendableChooser<Command> getChooser() { 
+    return autoChooser;
+  }
+
+  @Override
+  public void setDefaultCommands() {
+    DriveTrainInterface drivetrain = RobotContainer.getSubsystemOrNull("drivetrain");
+    if (drivetrain != null) {
+      drivetrain.setDefaultCommand(new FieldCentricDrive());
+    }
+  }
+
+
+
+}