Led thread

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
     id "com.peterabeles.gversion" version "1.10"
 }
 

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

@@ -14,8 +14,8 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.DriverStation.MatchType;
-import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.autonomous.AutoChooser;
@@ -119,7 +119,6 @@ public Robot() {
     m_subsystems.add(m_intakes);
     m_subsystems.add(m_hopper);
     m_subsystems.add(m_taskScheduler);
-    m_subsystems.add(m_leds);
 
     m_swerveSysId = new SwerveSysId(m_swerve.getSwerveModules(), "SwerveSysId");
   }
@@ -326,6 +325,16 @@ public void teleopPeriodic() {
       m_hopper.forward();
     }
 
+    ElevatorState elevatorState = m_operatorController.getDesiredElevatorState();
+    if (m_operatorController.getWantsElevatorOverride()){
+      m_elevator.setState(elevatorState);
+      if(elevatorState == ElevatorState.L4) {
+        m_arm.setArmState(ArmState.EXTEND);
+      } else {
+        m_arm.setArmState(ArmState.STOW);
+      }
+    }
+
     if (m_driverController.getWantsClearTellyTasks()) {
       m_taskScheduler.reset();
     }

src/main/java/frc/robot/constants/Constants.java

@@ -192,10 +192,10 @@ public static class ElevatorConstants {
     public final double k_IZone = 0.0;
     public final double k_FF = 0.50;
 
-    public final double k_maxVelocity = 130;
-    public final double k_maxAcceleration = 400;
+    public final double k_maxVelocity = 150; //130;
+    public final double k_maxAcceleration = 600; //400;
 
-    public final int k_maxCurrent = 40;
+    public final int k_maxCurrent = 50;
 
     public final double k_stowHeight = 0.0;
     public final double k_L1Height = 16.0;
@@ -216,7 +216,7 @@ public static class ArmConstants {
 
     public final double k_P = 10.8;
     public final double k_I = 0.0;
-    public final double k_D = 0.0;
+    public final double k_D = 0.005;
     public final double k_IZone = 0.0;
 
     public final double k_FFS = 0.0;
@@ -227,15 +227,15 @@ public static class ArmConstants {
     public final double k_constantVoltage = -0.4;
     public final double k_stowThreshold = 0.02;
 
-    public final int k_maxCurrent = 10; // TODO: maybe change this?
+    public final int k_maxCurrent = 20; // TODO: maybe change this?
 
     public double k_stowAngle;
     public double k_L4Angle;
     public double k_horizontalAngle;
     public double k_sourceAngle;
 
-    public final double k_maxAcceleration = 0.8;
-    public final double k_maxVelocity = 0.4;
+    public final double k_maxAcceleration = 2.0;
+    public final double k_maxVelocity = 0.8;
 
     public final double k_allowedError = 0.02; // TODO: Change this please 🥺
   }

src/main/java/frc/robot/constants/MonarchConstants.java

@@ -31,12 +31,12 @@ public MonarchConstants() {
     Arm.k_horizontalAngle = 0.5074164867401123;
     Arm.k_sourceAngle = 0.37661659717559814;
 
-    Intake.Left.k_stowPosition = 0.542549729347229;
+    Intake.Left.k_stowPosition = 0.551323413848877;
     Intake.Left.k_groundPosition = 0.19023025035858154;
     Intake.Left.k_ejectPosition = 0.31802046298980713;
     Intake.Left.k_horizontalPosition = 0.31802046298980713;
 
-    Intake.Right.k_stowPosition = 0.499617338180542;
+    Intake.Right.k_stowPosition = 0.4848584532737732;
     Intake.Right.k_groundPosition = 0.8430086374282837;
     Intake.Right.k_ejectPosition = 0.7199869155883789;
     Intake.Right.k_horizontalPosition = 0.7199869155883789;

src/main/java/frc/robot/controls/controllers/OperatorController.java

@@ -92,4 +92,8 @@ public boolean getWantsReverseHopper() {
   public boolean getStoppedReverseHopper() {
     return this.getRawButtonReleased(k_hopperButton);
   }
+
+  public boolean getWantsElevatorOverride(){
+    return this.getRawButton(Button.START);
+  }
 }

src/main/java/frc/robot/subsystems/leds/LEDs.java

@@ -6,9 +6,8 @@
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.util.Color;
 import frc.robot.constants.RobotConstants;
-import frc.robot.subsystems.Subsystem;
 
-public class LEDs extends Subsystem {
+public class LEDs implements Runnable {
   private static LEDs m_instance;
 
   private AddressableLED m_led;
@@ -21,6 +20,8 @@ public class LEDs extends Subsystem {
       .setColor(Color.kRed);
   private Function<Integer, Function<Integer, Function<AddressableLEDBuffer, AddressableLEDBuffer>>> m_rightColor = LEDModes.rainbowChase;
 
+  private Thread m_thread;
+
   public static LEDs getInstance() {
     if (m_instance == null) {
       m_instance = new LEDs();
@@ -29,18 +30,19 @@ public static LEDs getInstance() {
   }
 
   private LEDs() {
-    super("LEDs");
-
     if (RobotConstants.robotConfig.LEDs.k_isEnabled) {
       m_led = new AddressableLED(RobotConstants.robotConfig.LEDs.k_PWMId);
       m_led.setLength(m_ledTotalLength);
       m_buffer = new AddressableLEDBuffer(m_ledTotalLength);
       m_led.start();
+
+      m_thread = new Thread(this);
+      m_thread.setDaemon(true);
     }
   }
 
   @Override
-  public void periodic() {
+  public void run() {
     if (RobotConstants.robotConfig.LEDs.k_isEnabled) {
       setRightColorMode();
       setLeftColorMode();
@@ -136,16 +138,4 @@ public void setRightColorMode() {
         .apply(RobotConstants.robotConfig.LEDs.Right.k_length)
         .apply(m_buffer);
   }
-
-  @Override
-  public void stop() {
-  }
-
-  @Override
-  public void writePeriodicOutputs() {
-  }
-
-  @Override
-  public void reset() {
-  }
 }

vendordeps/libgrapplefrc2025.json

@@ -1,7 +1,7 @@
 {
     "fileName": "libgrapplefrc2025.json",
     "name": "libgrapplefrc",
-    "version": "2025.1.0",
+    "version": "2025.1.3",
     "frcYear": "2025",
     "uuid": "8ef3423d-9532-4665-8339-206dae1d7168",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "au.grapplerobotics",
             "artifactId": "libgrapplefrcjava",
-            "version": "2025.1.0"
+            "version": "2025.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "au.grapplerobotics",
             "artifactId": "libgrapplefrcdriver",
-            "version": "2025.1.0",
+            "version": "2025.1.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "au.grapplerobotics",
             "artifactId": "libgrapplefrccpp",
-            "version": "2025.1.0",
+            "version": "2025.1.3",
             "libName": "grapplefrc",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -55,7 +55,7 @@
         {
             "groupId": "au.grapplerobotics",
             "artifactId": "libgrapplefrcdriver",
-            "version": "2025.1.0",
+            "version": "2025.1.3",
             "libName": "grapplefrcdriver",
             "headerClassifier": "headers",
             "sharedLibrary": true,