bump deps, fix indentation in DriveToNote, and add comments

src/main/java/frc/robot/Robot.java

@@ -17,7 +17,6 @@
 import frc.robot.arm.Arm;
 import frc.robot.arm.Arm.ArmSetpoints;
 import frc.robot.climber.Climber;
-import frc.robot.drivetrain.DriveToNote;
 import frc.robot.drivetrain.DriveToPose;
 import frc.robot.drivetrain.Drivetrain;
 import frc.robot.drivetrain.WheelRadiusCharacterization;

src/main/java/frc/robot/drivetrain/DriveToNote.java

@@ -2,52 +2,49 @@
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.intake.Intake;
 import frc.robot.lights.Lights;
 import frc.robot.vision.GamePieceDetection;
 
 public class DriveToNote extends Command {
-private Drivetrain m_drivetrain;
-private Lights m_lights;
-private GamePieceDetection m_gamePieceDetection;
+  private Drivetrain m_drivetrain;
+  private Lights m_lights;
+  private GamePieceDetection m_gamePieceDetection;
 
-private PIDController m_thetaController;
+  private PIDController m_thetaController;
 
-private double m_horizontalOffset;
-private double m_verticalOffset;
+  private double m_horizontalOffset;
 
-public DriveToNote(Drivetrain drivetrain, Lights lights, GamePieceDetection gamePieceDetection, Intake intake) {
-m_drivetrain = drivetrain;
-m_lights = lights;
-m_gamePieceDetection = gamePieceDetection;
+  public DriveToNote(
+      Drivetrain drivetrain, Lights lights, GamePieceDetection gamePieceDetection, Intake intake) {
+    m_drivetrain = drivetrain;
+    m_lights = lights;
+    m_gamePieceDetection = gamePieceDetection;
 
-m_thetaController = new PIDController(5.0, 0.0, 0.0);
+    m_thetaController = new PIDController(5.0, 0.0, 0.0);
 
-m_horizontalOffset = m_gamePieceDetection.getHorizontalOffsetDeg();
-m_verticalOffset = m_gamePieceDetection.getVerticalOffsetDeg();
+    m_horizontalOffset = m_gamePieceDetection.getHorizontalOffsetDeg();
 
-m_thetaController.setTolerance(1);
-}
+    m_thetaController.setTolerance(1);
+  }
 
-@Override
-public void initialize() {}
+  @Override
+  public void initialize() {}
 
-@Override
-public void execute() {
-m_horizontalOffset = m_gamePieceDetection.getHorizontalOffsetDeg();
-m_verticalOffset = m_gamePieceDetection.getVerticalOffsetDeg();
-m_drivetrain.runVelocity(
-new ChassisSpeeds(0.0, 0.0, m_thetaController.calculate(m_horizontalOffset, 0)));
-// m_lights.setBlink(Color.kMidnightBlue);
-}
+  @Override
+  public void execute() {
+    m_horizontalOffset = m_gamePieceDetection.getHorizontalOffsetDeg();
+    m_drivetrain.runVelocity(
+        new ChassisSpeeds(0.0, 0.0, m_thetaController.calculate(m_horizontalOffset, 0)));
+    // m_lights.setBlink(Color.kMidnightBlue);
+  }
 
-@Override
-public void end(boolean interrupted) {}
+  @Override
+  public void end(boolean interrupted) {}
 
-@Override
-public boolean isFinished() {
-return false;
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
 }
-}

src/main/java/frc/robot/drivetrain/Drivetrain.java

@@ -46,8 +46,8 @@ public class Drivetrain extends SubsystemBase {
 
   private static final double kTrackwidthMeters = Units.inchesToMeters(20.75);
   private static double kWheelbaseMeters = Units.inchesToMeters(15.75);
-  
-  // @todo What order are these in? Is it Front Left then Clockwise
+
+  // Front left, front right, back left, back right
   private static final Translation2d[] m_modulePositions =
       new Translation2d[] {
         new Translation2d(kTrackwidthMeters / 2.0, kWheelbaseMeters / 2.0),
@@ -159,7 +159,8 @@ public void periodic() {
       SwerveModulePosition[] newModulePositions = new SwerveModulePosition[m_modules.length];
       SwerveModulePosition[] moduleDeltas = new SwerveModulePosition[4];
       for (int moduleIndex = 0; moduleIndex < m_modules.length; moduleIndex++) {
-        newModulePositions[moduleIndex] = m_modules[moduleIndex].getOdometryPositions()[updateIndex];
+        newModulePositions[moduleIndex] =
+            m_modules[moduleIndex].getOdometryPositions()[updateIndex];
         moduleDeltas[moduleIndex] =
             new SwerveModulePosition(
                 newModulePositions[moduleIndex].distanceMeters
@@ -172,7 +173,8 @@ public void periodic() {
       if (m_imuInputs.connected) {
         m_gyroRotation = m_imuInputs.odometryYawPositions[updateIndex];
       } else {
-        //when does this code run? Was this added when we had the pidgeon issue at worlds?
+        // When the gyro is not connected, we can simulate the robot's heading using the module
+        // states through the rotational component of the derived chassis speeds
         final Twist2d twist = swerveKinematics.toTwist2d(moduleDeltas);
         m_gyroRotation = m_gyroRotation.plus(new Rotation2d(twist.dtheta));
       }
@@ -247,8 +249,7 @@ public Command joystickDrive(
    * drive, no path following)
    */
   public Command blankDrive() {
-    return this.run(() -> 
-    runVelocity(new ChassisSpeeds(0.0, 0.0, 0.0)));
+    return this.run(() -> runVelocity(new ChassisSpeeds(0.0, 0.0, 0.0)));
   }
 
   public Command zeroGyro() {

src/main/java/frc/robot/vision/Vision.java

@@ -126,7 +126,10 @@ public void periodic() {
                         .ifPresent(
                             tagPose ->
                                 m_lastDetectionTimeIds.put(
-                                    target.getFiducialId(), Timer.getFPGATimestamp())); //shouldn't this be the timestamp of capture on the photonvision processor and not our timestamp
+                                    target.getFiducialId(),
+                                    // The timestamp used here is not important, as it is only used
+                                    // for visualization purposes.
+                                    Timer.getFPGATimestamp()));
                   });
               m_allEstimatedPosesToLog.add(estimatedPose);
               m_newVisionUpdates.add(

vendordeps/ChoreoLib.json

@@ -1,18 +1,19 @@
 {
   "fileName": "ChoreoLib.json",
   "name": "ChoreoLib",
-  "version": "2024.1.3",
+  "version": "2024.2.3",
   "uuid": "287cff6e-1b60-4412-8059-f6834fb30e30",
   "frcYear": "2024",
   "mavenUrls": [
-    "https://SleipnirGroup.github.io/ChoreoLib/dep"
+    "https://lib.choreo.autos/dep",
+    "https://repo1.maven.org/maven2"
   ],
-  "jsonUrl": "https://SleipnirGroup.github.io/ChoreoLib/dep/ChoreoLib.json",
+  "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib.json",
   "javaDependencies": [
     {
       "groupId": "com.choreo.lib",
       "artifactId": "ChoreoLib-java",
-      "version": "2024.2.2"
+      "version": "2024.2.3"
     },
     {
       "groupId": "com.google.code.gson",
@@ -25,7 +26,7 @@
     {
       "groupId": "com.choreo.lib",
       "artifactId": "ChoreoLib-cpp",
-      "version": "2024.2.2",
+      "version": "2024.2.3",
       "libName": "ChoreoLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
   "fileName": "PathplannerLib.json",
   "name": "PathplannerLib",
-  "version": "2024.2.7",
+  "version": "2024.2.8",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,15 +12,15 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2024.2.7"
+      "version": "2024.2.8"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2024.2.7",
+      "version": "2024.2.8",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,