Additional data for shuffleboard

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

@@ -15,6 +15,7 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -52,6 +53,14 @@ public class Robot extends LoggedRobot {
   private Field2d _autonomousTrajectory = new Field2d();
   private List<Pose2d> _shownPaths = new ArrayList<>();
 
+  // Shuffleboard Boolean that shows whether battery voltage is above 12.8V.
+  public boolean isBatteryVoltageAbove() {
+    return RobotController.getBatteryVoltage() >=12.8;
+  }
+
+  // Shuffleboard Boolean that shows whether an auto is chosen in autonomous
+  public boolean _isAutoChosen;
+
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
@@ -155,6 +164,10 @@ public void robotPeriodic() {
     Logger.recordOutput("NTClients/Names", clientNames.toArray(new String[clientNames.size()]));
     Logger.recordOutput("NTClients/Addresses", clientAddresses.toArray(new String[clientAddresses.size()]));
 
+    // SHUFFLEBOARD
+    // This shows whether the battery is above 12.8V. 
+    SmartDashboard.putBoolean("Is Battery Above 12.8V?", isBatteryVoltageAbove());
+
   }
 
   /** This function is called once when the robot is disabled. */
@@ -201,7 +214,14 @@ public void autonomousInit() {
     // schedule the autonomous command (example)
     if (_autonomousCommand != null) {
       _autonomousCommand.schedule();
+      _isAutoChosen = true;
+    } else {
+      _isAutoChosen = false;
     }
+
+    // SHUFFLEBOARD
+    // This shows whether an auto is chosen. 
+    SmartDashboard.putBoolean("Is An Auto Selected?", _isAutoChosen);
   }
 
   /** This function is called periodically during autonomous. */

src/main/java/frc/robot/subsystems/drive/commands/CmdDriveAutoAim.java

@@ -2,7 +2,6 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.drive.Drive;

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -173,6 +173,10 @@ public double getPivotAngle() {
         return _intakeInputs._pivotEncoderPositionDegrees;
     }
 
+    public boolean isPivotEncoderAtZero() {
+        return _intakeInputs._pivotEncoderPositionDegrees==0;
+    }
+
     /**
      * Returns the target position
      * @return intakePosition as an angle (double)
@@ -202,6 +206,7 @@ public void periodic() {
         SmartDashboard.putNumber("Intake Current Pivot Angle", _intakeInputs._pivotEncoderPositionDegrees);
         SmartDashboard.putNumber("Intake Desired Pivot Angle", _intakePosition.getAngle());
         SmartDashboard.putBoolean("Intake Has Note", _hasNote);
+        SmartDashboard.putBoolean("Is Intake Encoder At Zero", isPivotEncoderAtZero());
 
         // VISUALIZATION
         double angle = _intakeInputs._pivotEncoderPositionDegrees;

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -11,6 +11,7 @@
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.LoggedTunableNumber;
 
@@ -183,6 +184,11 @@ public double getCurrentPositionInDegrees() {
         // }
     }
 
+    // checks if shooter encoder is at 0
+    public boolean isShooterEncoderAtZero() {
+        return _shooterInputs._angleEncoderPositionDegrees == 0;
+        }
+
     /**
      * The current zone the shooter thinks it is in.
      * 
@@ -334,5 +340,10 @@ public void periodic() {
         Logger.recordOutput("Shooter/TargetShooterAngle", _targetShooterAngle);
         Logger.recordOutput("Shooter/AnglePIDCalculatedOutput", calcAnglePID());
         Logger.recordOutput("Shooter/isAutoShootEnabled",this.isAutoShootEnabled());
+
+        // SHUFFLEBOARD VALUES
+        SmartDashboard.putBoolean("Is Shooter Encoder at 0?", isShooterEncoderAtZero());
+
+
     }
 }