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Code cleanup #91

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326f7cd
Tested reconfiguration of escs on reset
prak132 Nov 8, 2025
7cfe2ef
Post season clean up
prak132 Nov 11, 2025
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133 changes: 95 additions & 38 deletions networktables.json.bck
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Original file line number Diff line number Diff line change
Expand Up @@ -74,31 +74,31 @@
{
"name": "/Preferences/SwerveDrivetrain/FR/cancoder_offset_ (deg)",
"type": "double",
"value": -74.7,
"value": -72.158203125,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/SwerveDrivetrain/FL/cancoder_offset_ (deg)",
"type": "double",
"value": -128.67,
"value": -129.462890625,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/SwerveDrivetrain/BL/cancoder_offset_ (deg)",
"type": "double",
"value": -80.33203125,
"value": -80.595703125,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/SwerveDrivetrain/BR/cancoder_offset_ (deg)",
"type": "double",
"value": -79.013671875,
"value": -79.27734375,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -252,7 +252,8 @@
"type": "double",
"value": 15.0,
"properties": {
"persistent": true
"persistent": true,
"retained": true
}
},
{
Expand All @@ -274,7 +275,7 @@
{
"name": "/Preferences/SwerveDrivetrain/odom_fudge_factor",
"type": "double",
"value": 1.077,
"value": 0.95,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -450,15 +451,15 @@
{
"name": "/Preferences/GPD/intake_to_cam_y (in)",
"type": "double",
"value": 0.0,
"value": -20.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/GPD/intake_to_cam_x (in)",
"type": "double",
"value": -13.0,
"value": -8.0,
"properties": {
"persistent": true
}
Expand All @@ -474,7 +475,7 @@
{
"name": "/Preferences/GPD/max_gp_diff (in)",
"type": "double",
"value": 10.0,
"value": 6.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1122,7 +1123,7 @@
{
"name": "/Preferences/algal_wrist/motor_configs/current_limit (A)",
"type": "double",
"value": 50.0,
"value": 30.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1162,7 +1163,7 @@
{
"name": "/Preferences/algal_wrist/gains/_kD",
"type": "double",
"value": -0.0006,
"value": -0.0004,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1210,7 +1211,7 @@
{
"name": "/Preferences/algal_wrist/limits/reduce_lower (deg)",
"type": "double",
"value": 10.0,
"value": 80.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1250,15 +1251,15 @@
{
"name": "/Preferences/algal_wrist/encoder_offset (deg)",
"type": "double",
"value": 3.8,
"value": -9.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/motor_configs/current_limit (A)",
"type": "double",
"value": 25.0,
"value": 17.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1298,7 +1299,7 @@
{
"name": "/Preferences/algal_ss/setpoints/stow/angle (deg)",
"type": "double",
"value": 9.0,
"value": 10.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1346,15 +1347,15 @@
{
"name": "/Preferences/algal_ss/setpoints/ground_intake/angle (deg)",
"type": "double",
"value": 62.0,
"value": 56.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/ground_intake/ee_dc",
"type": "double",
"value": 0.9,
"value": 1.0,
"properties": {
"persistent": true
}
Expand All @@ -1378,7 +1379,7 @@
{
"name": "/Preferences/algal_ss/setpoints/on_top_intake/ee_dc",
"type": "double",
"value": 0.9,
"value": 1.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1434,7 +1435,7 @@
{
"name": "/Preferences/algal_ss/setpoints/l3_pick/height (in)",
"type": "double",
"value": 47.5,
"value": 48.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1578,15 +1579,15 @@
{
"name": "/Preferences/climber/limits/upper_limit (deg)",
"type": "double",
"value": 460.0,
"value": 270.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/climber/limits/lower_limit (deg)",
"type": "double",
"value": -255.0,
"value": -118.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -1842,7 +1843,7 @@
{
"name": "/Preferences/coral_ss/setpoints/stow_net/height (in)",
"type": "double",
"value": 40.0,
"value": 72.0,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -2522,7 +2523,7 @@
{
"name": "/Preferences/algal_end_effector/idle_speed (fps)",
"type": "double",
"value": 6.875,
"value": 10.0,
"properties": {
"persistent": true
}
Expand All @@ -2538,23 +2539,23 @@
{
"name": "/Preferences/algal_end_effector/kick_dc (fps)",
"type": "double",
"value": -30.0,
"value": -80.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/backspin_constant (fps)",
"type": "double",
"value": -55.0,
"value": -50.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/gains/_kP",
"type": "double",
"value": 0.0001,
"value": 3e-05,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -2586,7 +2587,7 @@
{
"name": "/Preferences/algal_ss/setpoints/stow/ee_vel (fps)",
"type": "double",
"value": 5.0,
"value": 7.75,
"properties": {
"persistent": true
}
Expand Down Expand Up @@ -2666,79 +2667,135 @@
{
"name": "/Preferences/algal_ss/score_dc (fps)",
"type": "double",
"value": -49.5,
"value": -60.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/telescope/latency",
"type": "int",
"value": 0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/telescope/projection_horizon",
"type": "int",
"value": 1,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/telescope/duty_cycle_output",
"type": "double",
"value": 0.03,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/coral_ss/has_peicething",
"type": "boolean",
"value": false,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/coral_pick/height (in)",
"type": "double",
"value": 29.0,
"value": 35.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/coral_pick/angle (deg)",
"type": "double",
"value": 80.0,
"value": 135.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/coral_pick/ee_vel (fps)",
"type": "double",
"value": 64.15,
"value": -30.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/l1_coral_score/height (in)",
"type": "double",
"value": 29.0,
"value": 31.5,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/l1_coral_score/angle (deg)",
"type": "double",
"value": 60.0,
"value": 50.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/setpoints/l1_coral_score/ee_vel (fps)",
"type": "double",
"value": -20.15,
"value": -9.2,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_ss/score_coral_vel (fps)",
"type": "double",
"value": -16.5,
"value": 40.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/testthing",
"type": "double",
"value": -0.4,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/idle_speed_coral (fps)",
"type": "double",
"value": -5.0,
"value": -8.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/testthing",
"name": "/Preferences/algal_end_effector/test1",
"type": "boolean",
"value": false,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/coral_vel_thresh (fps)",
"type": "double",
"value": 0.4,
"value": 5.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/algal_end_effector/max_eject (fps)",
"type": "double",
"value": -40.0,
"properties": {
"persistent": true
}
Expand Down
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