From 5e9ba2afd19cec1491359b0be19407e2b951dd83 Mon Sep 17 00:00:00 2001
From: YHerm <0549405422.yh@gmail.com>
Date: Tue, 1 Apr 2025 15:49:16 +0300
Subject: [PATCH 1/5] added visualizer & subsystem

---
 src/main/java/frc/JoysticksBindings.java      | 11 +++++
 src/main/java/frc/robot/Robot.java            | 10 +++++
 .../robot/subsystems/DoubleJointedArm.java    | 42 +++++++++++++++++++
 .../DoubleJointedArmVisualizer.java           | 38 +++++++++++++++++
 4 files changed, 101 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/DoubleJointedArm.java
 create mode 100644 src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java

diff --git a/src/main/java/frc/JoysticksBindings.java b/src/main/java/frc/JoysticksBindings.java
index 0fe5ec2b70..8dc8e33d10 100644
--- a/src/main/java/frc/JoysticksBindings.java
+++ b/src/main/java/frc/JoysticksBindings.java
@@ -1,5 +1,7 @@
 package frc;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.joysticks.JoystickPorts;
 import frc.joysticks.SmartJoystick;
 import frc.robot.Robot;
@@ -25,6 +27,15 @@ public static void configureBindings(Robot robot) {
 	private static void mainJoystickButtons(Robot robot) {
 		SmartJoystick usedJoystick = MAIN_JOYSTICK;
 		// bindings...
+
+		usedJoystick.A.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(100),
+			Rotation2d.fromDegrees(210))));
+		usedJoystick.B.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(60),
+			Rotation2d.fromDegrees(80))));
+		usedJoystick.X.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(150),
+			Rotation2d.fromDegrees(75))));
+		usedJoystick.Y.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(95),
+			Rotation2d.fromDegrees(85))));
 	}
 
 	private static void secondJoystickButtons(Robot robot) {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index be6fbbae84..d83aa280c8 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -9,6 +9,8 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.RobotManager;
 import frc.robot.hardware.phoenix6.BusChain;
+import frc.robot.subsystems.DoubleJointedArm;
+import frc.robot.visualizers.DoubleJointedArmVisualizer;
 import frc.utils.battery.BatteryUtil;
 
 /**
@@ -20,6 +22,9 @@ public class Robot {
 
 	public static final RobotType ROBOT_TYPE = RobotType.determineRobotType();
 
+	private final DoubleJointedArm arm = new DoubleJointedArm("Arm");
+	private final DoubleJointedArmVisualizer armVisualizer = new DoubleJointedArmVisualizer(2.5, 2.5, 0.8, 0.5);
+
 	public Robot() {
 		BatteryUtil.scheduleLimiter();
 	}
@@ -27,6 +32,7 @@ public Robot() {
 	public void periodic() {
 		BatteryUtil.logStatus();
 		BusChain.logChainsStatuses();
+		armVisualizer.setAngles(arm.getFirstJointAngle(), arm.getSecondJointAngle());
 		CommandScheduler.getInstance().run(); // Should be last
 	}
 
@@ -34,4 +40,8 @@ public Command getAutonomousCommand() {
 		return new InstantCommand();
 	}
 
+	public DoubleJointedArm getArm() {
+		return arm;
+	}
+
 }
diff --git a/src/main/java/frc/robot/subsystems/DoubleJointedArm.java b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
new file mode 100644
index 0000000000..c04174becd
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
@@ -0,0 +1,42 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.littletonrobotics.junction.Logger;
+
+public class DoubleJointedArm extends GBSubsystem{
+
+    private Rotation2d firstJointAngle = new Rotation2d();
+    private Rotation2d secondJointAngle = new Rotation2d();
+
+    public DoubleJointedArm(String logPath) {
+        super(logPath);
+    }
+
+    @Override
+    protected void subsystemPeriodic() {
+        Logger.recordOutput("Arm/FirstJointAngleDeg", firstJointAngle.getDegrees());
+        Logger.recordOutput("Arm/SecondJointAngleDeg", secondJointAngle.getDegrees());
+    }
+
+    public Rotation2d getFirstJointAngle() {
+        return firstJointAngle;
+    }
+
+    public Rotation2d getSecondJointAngle() {
+        return secondJointAngle;
+    }
+
+    public void setFirstJointAngle(Rotation2d firstJointAngle) {
+        this.firstJointAngle = firstJointAngle;
+    }
+
+    public void setSecondJointAngle(Rotation2d secondJointAngle) {
+        this.secondJointAngle = secondJointAngle;
+    }
+
+    public void setAngles(Rotation2d a1, Rotation2d a2){
+        setFirstJointAngle(a1);
+        setSecondJointAngle(a2);
+    }
+
+}
diff --git a/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
new file mode 100644
index 0000000000..fed6921940
--- /dev/null
+++ b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
@@ -0,0 +1,38 @@
+package frc.robot.visualizers;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+
+public class DoubleJointedArmVisualizer {
+
+    private final Mechanism2d mechanism;
+    private final MechanismRoot2d root;
+    private final MechanismLigament2d firstJoint;
+    private final MechanismLigament2d secondJoint;
+
+    public DoubleJointedArmVisualizer(double xMeters, double yMeters, double l1Meters, double l2Meters) {
+        this.mechanism = new Mechanism2d(xMeters, yMeters);
+        this.root = mechanism.getRoot("Arm", xMeters / 2.0, 0);
+        this.firstJoint = new MechanismLigament2d("first joint", l1Meters, 0);
+        this.secondJoint = new MechanismLigament2d("first joint", l2Meters, 0, 10.0F, new Color8Bit(Color.kPurple));
+
+        firstJoint.append(secondJoint);
+        root.append(firstJoint);
+        SmartDashboard.putData("Mech2d", mechanism);
+    }
+
+    public void setAngles(Rotation2d a1, Rotation2d a2) {
+        firstJoint.setAngle(a1);
+        secondJoint.setAngle(toFloorRelative(a1, a2));
+    }
+
+    private static Rotation2d toFloorRelative(Rotation2d floorRelativeAngle, Rotation2d jointRelativeAngle) {
+        return jointRelativeAngle.minus(floorRelativeAngle);
+    }
+
+}

From 7d99187f4fac08cf3fec51cc4a47cb4176b38cea Mon Sep 17 00:00:00 2001
From: YHerm <0549405422.yh@gmail.com>
Date: Tue, 1 Apr 2025 16:00:26 +0300
Subject: [PATCH 2/5] clean

---
 src/main/java/frc/JoysticksBindings.java      | 12 ++--
 src/main/java/frc/robot/Robot.java            |  9 ++-
 .../robot/subsystems/DoubleJointedArm.java    | 57 ++++++++++---------
 .../DoubleJointedArmVisualizer.java           | 48 ++++++++--------
 4 files changed, 66 insertions(+), 60 deletions(-)

diff --git a/src/main/java/frc/JoysticksBindings.java b/src/main/java/frc/JoysticksBindings.java
index 8dc8e33d10..140d1243c2 100644
--- a/src/main/java/frc/JoysticksBindings.java
+++ b/src/main/java/frc/JoysticksBindings.java
@@ -28,14 +28,10 @@ private static void mainJoystickButtons(Robot robot) {
 		SmartJoystick usedJoystick = MAIN_JOYSTICK;
 		// bindings...
 
-		usedJoystick.A.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(100),
-			Rotation2d.fromDegrees(210))));
-		usedJoystick.B.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(60),
-			Rotation2d.fromDegrees(80))));
-		usedJoystick.X.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(150),
-			Rotation2d.fromDegrees(75))));
-		usedJoystick.Y.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(95),
-			Rotation2d.fromDegrees(85))));
+		usedJoystick.A.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(100), Rotation2d.fromDegrees(210))));
+		usedJoystick.B.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(80))));
+		usedJoystick.X.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(150), Rotation2d.fromDegrees(75))));
+		usedJoystick.Y.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(95), Rotation2d.fromDegrees(85))));
 	}
 
 	private static void secondJoystickButtons(Robot robot) {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index d83aa280c8..5cf0757a73 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -23,7 +23,12 @@ public class Robot {
 	public static final RobotType ROBOT_TYPE = RobotType.determineRobotType();
 
 	private final DoubleJointedArm arm = new DoubleJointedArm("Arm");
-	private final DoubleJointedArmVisualizer armVisualizer = new DoubleJointedArmVisualizer(2.5, 2.5, 0.8, 0.5);
+	private final DoubleJointedArmVisualizer armVisualizer = new DoubleJointedArmVisualizer(
+		2.5,
+		2.5,
+		DoubleJointedArm.FIRST_JOINT_LENGTH_METERS,
+		DoubleJointedArm.SECOND_JOINT_LENGTH_METERS
+	);
 
 	public Robot() {
 		BatteryUtil.scheduleLimiter();
@@ -32,7 +37,9 @@ public Robot() {
 	public void periodic() {
 		BatteryUtil.logStatus();
 		BusChain.logChainsStatuses();
+
 		armVisualizer.setAngles(arm.getFirstJointAngle(), arm.getSecondJointAngle());
+
 		CommandScheduler.getInstance().run(); // Should be last
 	}
 
diff --git a/src/main/java/frc/robot/subsystems/DoubleJointedArm.java b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
index c04174becd..6a6a236782 100644
--- a/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
+++ b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
@@ -3,40 +3,43 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.Logger;
 
-public class DoubleJointedArm extends GBSubsystem{
+public class DoubleJointedArm extends GBSubsystem {
 
-    private Rotation2d firstJointAngle = new Rotation2d();
-    private Rotation2d secondJointAngle = new Rotation2d();
+	public static final double FIRST_JOINT_LENGTH_METERS = 0.8;
+	public static final double SECOND_JOINT_LENGTH_METERS = 0.5;
 
-    public DoubleJointedArm(String logPath) {
-        super(logPath);
-    }
+	private Rotation2d firstJointAngle = new Rotation2d();
+	private Rotation2d secondJointAngle = new Rotation2d();
 
-    @Override
-    protected void subsystemPeriodic() {
-        Logger.recordOutput("Arm/FirstJointAngleDeg", firstJointAngle.getDegrees());
-        Logger.recordOutput("Arm/SecondJointAngleDeg", secondJointAngle.getDegrees());
-    }
+	public DoubleJointedArm(String logPath) {
+		super(logPath);
+	}
 
-    public Rotation2d getFirstJointAngle() {
-        return firstJointAngle;
-    }
+	@Override
+	protected void subsystemPeriodic() {
+		Logger.recordOutput(getLogPath() + "/FirstJointAngleDeg", firstJointAngle.getDegrees());
+		Logger.recordOutput(getLogPath() + "/SecondJointAngleDeg", secondJointAngle.getDegrees());
+	}
 
-    public Rotation2d getSecondJointAngle() {
-        return secondJointAngle;
-    }
+	public Rotation2d getFirstJointAngle() {
+		return firstJointAngle;
+	}
 
-    public void setFirstJointAngle(Rotation2d firstJointAngle) {
-        this.firstJointAngle = firstJointAngle;
-    }
+	public Rotation2d getSecondJointAngle() {
+		return secondJointAngle;
+	}
 
-    public void setSecondJointAngle(Rotation2d secondJointAngle) {
-        this.secondJointAngle = secondJointAngle;
-    }
+	public void setFirstJointAngle(Rotation2d firstJointAngle) {
+		this.firstJointAngle = firstJointAngle;
+	}
 
-    public void setAngles(Rotation2d a1, Rotation2d a2){
-        setFirstJointAngle(a1);
-        setSecondJointAngle(a2);
-    }
+	public void setSecondJointAngle(Rotation2d secondJointAngle) {
+		this.secondJointAngle = secondJointAngle;
+	}
+
+	public void setAngles(Rotation2d a1, Rotation2d a2) {
+		setFirstJointAngle(a1);
+		setSecondJointAngle(a2);
+	}
 
 }
diff --git a/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
index fed6921940..c96e9e9973 100644
--- a/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
+++ b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
@@ -10,29 +10,29 @@
 
 public class DoubleJointedArmVisualizer {
 
-    private final Mechanism2d mechanism;
-    private final MechanismRoot2d root;
-    private final MechanismLigament2d firstJoint;
-    private final MechanismLigament2d secondJoint;
-
-    public DoubleJointedArmVisualizer(double xMeters, double yMeters, double l1Meters, double l2Meters) {
-        this.mechanism = new Mechanism2d(xMeters, yMeters);
-        this.root = mechanism.getRoot("Arm", xMeters / 2.0, 0);
-        this.firstJoint = new MechanismLigament2d("first joint", l1Meters, 0);
-        this.secondJoint = new MechanismLigament2d("first joint", l2Meters, 0, 10.0F, new Color8Bit(Color.kPurple));
-
-        firstJoint.append(secondJoint);
-        root.append(firstJoint);
-        SmartDashboard.putData("Mech2d", mechanism);
-    }
-
-    public void setAngles(Rotation2d a1, Rotation2d a2) {
-        firstJoint.setAngle(a1);
-        secondJoint.setAngle(toFloorRelative(a1, a2));
-    }
-
-    private static Rotation2d toFloorRelative(Rotation2d floorRelativeAngle, Rotation2d jointRelativeAngle) {
-        return jointRelativeAngle.minus(floorRelativeAngle);
-    }
+	private final Mechanism2d mechanism;
+	private final MechanismRoot2d root;
+	private final MechanismLigament2d firstJoint;
+	private final MechanismLigament2d secondJoint;
+
+	public DoubleJointedArmVisualizer(double xMeters, double yMeters, double l1Meters, double l2Meters) {
+		this.mechanism = new Mechanism2d(xMeters, yMeters);
+		this.root = mechanism.getRoot("Arm", xMeters / 2.0, 0);
+		this.firstJoint = new MechanismLigament2d("first joint", l1Meters, 0);
+		this.secondJoint = new MechanismLigament2d("second joint", l2Meters, 0, 10.0F, new Color8Bit(Color.kPurple));
+
+		firstJoint.append(secondJoint);
+		root.append(firstJoint);
+		SmartDashboard.putData("DoubleJointedArmMech2d", mechanism);
+	}
+
+	public void setAngles(Rotation2d a1, Rotation2d a2) {
+		firstJoint.setAngle(a1);
+		secondJoint.setAngle(toFloorRelative(a1, a2));
+	}
+
+	private static Rotation2d toFloorRelative(Rotation2d floorRelativeAngle, Rotation2d jointRelativeAngle) {
+		return jointRelativeAngle.minus(floorRelativeAngle);
+	}
 
 }

From e73b4612a1db2cfe06bb640048b7d356eeb9202e Mon Sep 17 00:00:00 2001
From: YHerm <0549405422.yh@gmail.com>
Date: Tue, 1 Apr 2025 16:03:52 +0300
Subject: [PATCH 3/5] no lables

---
 .github/workflows/addTestsLabels.yml | 130 +++++++++++++--------------
 .github/workflows/checkLabels.yml    | 126 +++++++++++++-------------
 2 files changed, 128 insertions(+), 128 deletions(-)

diff --git a/.github/workflows/addTestsLabels.yml b/.github/workflows/addTestsLabels.yml
index 7f0661fc45..df8863dd43 100644
--- a/.github/workflows/addTestsLabels.yml
+++ b/.github/workflows/addTestsLabels.yml
@@ -1,65 +1,65 @@
-name: Add Tests Labels
-
-on:
-  pull_request:
-    types:
-      - opened
-      - reopened
-      - synchronize
-
-jobs:
-  add-tests-labels:
-    runs-on: ubuntu-latest
-    env:
-      ROBOT_TESTING: "needs-robot-testing"
-      NO_ROBOT_TESTING: "no-need-of-robot-testing"
-      SIMULATION_TESTING: "needs-simulation-testing"
-      NO_SIMULATION_TESTING: "no-need-of-simulation-testing"
-      PASSED_ALL_TESTS: "passed-all-tests"
-      stop: 'false'
-    steps:
-
-      - name: get existing labels
-        run: |
-          existingLabels=$(jq -r '.pull_request.labels[].name' $GITHUB_EVENT_PATH | tr '\n' ' ')
-          echo "existing-labels=${existingLabels}" >>$GITHUB_ENV
-          echo "Existing labels: $existingLabels"
-
-
-      - name: Open Behavior
-        if: ${{ github.event.action == 'opened' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
-        run: |
-          echo "stop=true" >>$GITHUB_ENV
-
-
-      - name: add needs robot test
-        if: ${{ env.stop == 'false'
-          && !contains(env.existing-labels, env.ROBOT_TESTING)
-          && !contains(env.existing-labels, env.NO_ROBOT_TESTING)}}
-        run: |
-          curl -X POST \
-            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
-            -d "{\"labels\":[\"${ROBOT_TESTING}\"]}"
-
-
-      - name: add needs simulation test
-        if: ${{env.stop == 'false'
-          && !contains(env.existing-labels, env.SIMULATION_TESTING)
-          && !contains(env.existing-labels, env.NO_SIMULATION_TESTING)}}
-        run: |
-          curl -X POST \
-            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
-            -d "{\"labels\":[\"${SIMULATION_TESTING}\"]}"
-
-
-      - name: remove passed all tests
-        if: ${{env.stop == 'false' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
-        run: |
-          curl -X DELETE \
-                  -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-                  -H "Accept: application/vnd.github.v3+json" \
-                  "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels/${PASSED_ALL_TESTS}"
\ No newline at end of file
+#name: Add Tests Labels
+#
+#on:
+#  pull_request:
+#    types:
+#      - opened
+#      - reopened
+#      - synchronize
+#
+#jobs:
+#  add-tests-labels:
+#    runs-on: ubuntu-latest
+#    env:
+#      ROBOT_TESTING: "needs-robot-testing"
+#      NO_ROBOT_TESTING: "no-need-of-robot-testing"
+#      SIMULATION_TESTING: "needs-simulation-testing"
+#      NO_SIMULATION_TESTING: "no-need-of-simulation-testing"
+#      PASSED_ALL_TESTS: "passed-all-tests"
+#      stop: 'false'
+#    steps:
+#
+#      - name: get existing labels
+#        run: |
+#          existingLabels=$(jq -r '.pull_request.labels[].name' $GITHUB_EVENT_PATH | tr '\n' ' ')
+#          echo "existing-labels=${existingLabels}" >>$GITHUB_ENV
+#          echo "Existing labels: $existingLabels"
+#
+#
+#      - name: Open Behavior
+#        if: ${{ github.event.action == 'opened' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
+#        run: |
+#          echo "stop=true" >>$GITHUB_ENV
+#
+#
+#      - name: add needs robot test
+#        if: ${{ env.stop == 'false'
+#          && !contains(env.existing-labels, env.ROBOT_TESTING)
+#          && !contains(env.existing-labels, env.NO_ROBOT_TESTING)}}
+#        run: |
+#          curl -X POST \
+#            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#            -H "Accept: application/vnd.github.v3+json" \
+#            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
+#            -d "{\"labels\":[\"${ROBOT_TESTING}\"]}"
+#
+#
+#      - name: add needs simulation test
+#        if: ${{env.stop == 'false'
+#          && !contains(env.existing-labels, env.SIMULATION_TESTING)
+#          && !contains(env.existing-labels, env.NO_SIMULATION_TESTING)}}
+#        run: |
+#          curl -X POST \
+#            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#            -H "Accept: application/vnd.github.v3+json" \
+#            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
+#            -d "{\"labels\":[\"${SIMULATION_TESTING}\"]}"
+#
+#
+#      - name: remove passed all tests
+#        if: ${{env.stop == 'false' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
+#        run: |
+#          curl -X DELETE \
+#                  -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#                  -H "Accept: application/vnd.github.v3+json" \
+#                  "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels/${PASSED_ALL_TESTS}"
\ No newline at end of file
diff --git a/.github/workflows/checkLabels.yml b/.github/workflows/checkLabels.yml
index fb35403b99..a3f5a30be0 100644
--- a/.github/workflows/checkLabels.yml
+++ b/.github/workflows/checkLabels.yml
@@ -1,63 +1,63 @@
-name: Check Labels
-
-on:
-  pull_request:
-    types:
-      - opened
-      - labeled
-      - unlabeled
-      - synchronize
-
-
-jobs:
-  check-labels:
-    runs-on: ubuntu-latest
-    env:
-      PASSED_ALL_TESTS: "passed-all-tests"
-      NO_NEED_ROBOT: "no-need-of-robot-testing"
-      NO_NEED_SIMULATION: "no-need-of-simulation-testing"
-    steps:
-      - name: Get PR Labels
-        id: pr-info
-        run: |
-          LABELS=$(curl -s "https://api.github.com/repos/${GITHUB_REPOSITORY}/issues/${{ github.event.pull_request.number }}/labels" | jq -r '.[].name' | tr '\n' ' ')
-          echo "Labels for PR: ${LABELS}"
-          echo "existing_labels=${LABELS}" >> $GITHUB_ENV
-
-      - name: Check On Push if no need appear
-        if: ${{ github.event.action == 'synchronize' }}
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          
-          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
-            echo "Label '${NO_NEED_ROBOT}' and label '${NO_NEED_SIMULATION}' found."
-            exit 0
-          fi
-          
-          echo "This is a push event and no no-need-testing was found"
-          exit 1
-
-      - name: Check Absent Labels
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          declare -a absent_labels=("waiting-for-another-pr" "needs-robot-testing" "needs-simulation-testing")
-          for label in "${absent_labels[@]}"; do
-            if [[ "${EXISTING_LABELS}" =~ "${label}" ]]; then
-              echo "Label '${label}' should not be present."
-              exit 1
-            fi
-          done
-
-      - name: Check Present Label
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          if [[ "${EXISTING_LABELS}" =~ "${PASSED_ALL_TESTS}" ]]; then
-            echo "Label '${PASSED_ALL_TESTS}' found."
-            exit 0
-          fi
-          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
-            echo "Label "${NO_NEED_ROBOT}" and label "${NO_NEED_SIMULATION}" found."
-            exit 0
-          fi
-          echo "no passed-all-tests Or no-need-of-robot-testing And no-need-of-simulation-testing was found."
-          exit 1
\ No newline at end of file
+#name: Check Labels
+#
+#on:
+#  pull_request:
+#    types:
+#      - opened
+#      - labeled
+#      - unlabeled
+#      - synchronize
+#
+#
+#jobs:
+#  check-labels:
+#    runs-on: ubuntu-latest
+#    env:
+#      PASSED_ALL_TESTS: "passed-all-tests"
+#      NO_NEED_ROBOT: "no-need-of-robot-testing"
+#      NO_NEED_SIMULATION: "no-need-of-simulation-testing"
+#    steps:
+#      - name: Get PR Labels
+#        id: pr-info
+#        run: |
+#          LABELS=$(curl -s "https://api.github.com/repos/${GITHUB_REPOSITORY}/issues/${{ github.event.pull_request.number }}/labels" | jq -r '.[].name' | tr '\n' ' ')
+#          echo "Labels for PR: ${LABELS}"
+#          echo "existing_labels=${LABELS}" >> $GITHUB_ENV
+#
+#      - name: Check On Push if no need appear
+#        if: ${{ github.event.action == 'synchronize' }}
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#
+#          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
+#            echo "Label '${NO_NEED_ROBOT}' and label '${NO_NEED_SIMULATION}' found."
+#            exit 0
+#          fi
+#
+#          echo "This is a push event and no no-need-testing was found"
+#          exit 1
+#
+#      - name: Check Absent Labels
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#          declare -a absent_labels=("waiting-for-another-pr" "needs-robot-testing" "needs-simulation-testing")
+#          for label in "${absent_labels[@]}"; do
+#            if [[ "${EXISTING_LABELS}" =~ "${label}" ]]; then
+#              echo "Label '${label}' should not be present."
+#              exit 1
+#            fi
+#          done
+#
+#      - name: Check Present Label
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#          if [[ "${EXISTING_LABELS}" =~ "${PASSED_ALL_TESTS}" ]]; then
+#            echo "Label '${PASSED_ALL_TESTS}' found."
+#            exit 0
+#          fi
+#          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
+#            echo "Label "${NO_NEED_ROBOT}" and label "${NO_NEED_SIMULATION}" found."
+#            exit 0
+#          fi
+#          echo "no passed-all-tests Or no-need-of-robot-testing And no-need-of-simulation-testing was found."
+#          exit 1
\ No newline at end of file

From 1e90fd2041d133c5febdb15bbc4845f8cb3c6b05 Mon Sep 17 00:00:00 2001
From: YHerm <0549405422.yh@gmail.com>
Date: Tue, 1 Apr 2025 16:14:14 +0300
Subject: [PATCH 4/5] clean

---
 src/main/java/frc/robot/Robot.java            |  1 +
 .../DoubleJointedArmVisualizer.java           | 24 ++++++++++++-------
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5cf0757a73..20dc0c7f11 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -24,6 +24,7 @@ public class Robot {
 
 	private final DoubleJointedArm arm = new DoubleJointedArm("Arm");
 	private final DoubleJointedArmVisualizer armVisualizer = new DoubleJointedArmVisualizer(
+		"",
 		2.5,
 		2.5,
 		DoubleJointedArm.FIRST_JOINT_LENGTH_METERS,
diff --git a/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
index c96e9e9973..c73bf35a28 100644
--- a/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
+++ b/src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
@@ -15,20 +15,26 @@ public class DoubleJointedArmVisualizer {
 	private final MechanismLigament2d firstJoint;
 	private final MechanismLigament2d secondJoint;
 
-	public DoubleJointedArmVisualizer(double xMeters, double yMeters, double l1Meters, double l2Meters) {
-		this.mechanism = new Mechanism2d(xMeters, yMeters);
-		this.root = mechanism.getRoot("Arm", xMeters / 2.0, 0);
-		this.firstJoint = new MechanismLigament2d("first joint", l1Meters, 0);
-		this.secondJoint = new MechanismLigament2d("second joint", l2Meters, 0, 10.0F, new Color8Bit(Color.kPurple));
+	public DoubleJointedArmVisualizer(
+		String name,
+		double frameXMeters,
+		double frameYMeters,
+		double firstJointLengthMeters,
+		double secondJointLengthMeters
+	) {
+		this.mechanism = new Mechanism2d(frameXMeters, frameYMeters);
+		this.root = mechanism.getRoot(name + " DoubleJointedArm", frameXMeters / 2.0, 0);
+		this.firstJoint = new MechanismLigament2d("first joint", firstJointLengthMeters, 0);
+		this.secondJoint = new MechanismLigament2d("second joint", secondJointLengthMeters, 0, 10.0F, new Color8Bit(Color.kPurple));
 
 		firstJoint.append(secondJoint);
 		root.append(firstJoint);
-		SmartDashboard.putData("DoubleJointedArmMech2d", mechanism);
+		SmartDashboard.putData(name + " DoubleJointedArmMech2d", mechanism);
 	}
 
-	public void setAngles(Rotation2d a1, Rotation2d a2) {
-		firstJoint.setAngle(a1);
-		secondJoint.setAngle(toFloorRelative(a1, a2));
+	public void setAngles(Rotation2d firstJointAngle, Rotation2d secondJointAngle) {
+		firstJoint.setAngle(firstJointAngle);
+		secondJoint.setAngle(toFloorRelative(firstJointAngle, secondJointAngle));
 	}
 
 	private static Rotation2d toFloorRelative(Rotation2d floorRelativeAngle, Rotation2d jointRelativeAngle) {

From 82b57327f6fe631594e377714f168d15f6f241a8 Mon Sep 17 00:00:00 2001
From: YHerm <0549405422.yh@gmail.com>
Date: Tue, 1 Apr 2025 16:15:35 +0300
Subject: [PATCH 5/5] test binds

---
 src/main/java/frc/JoysticksBindings.java                 | 7 -------
 src/main/java/frc/robot/subsystems/DoubleJointedArm.java | 9 +++++++++
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/JoysticksBindings.java b/src/main/java/frc/JoysticksBindings.java
index 140d1243c2..0fe5ec2b70 100644
--- a/src/main/java/frc/JoysticksBindings.java
+++ b/src/main/java/frc/JoysticksBindings.java
@@ -1,7 +1,5 @@
 package frc;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.joysticks.JoystickPorts;
 import frc.joysticks.SmartJoystick;
 import frc.robot.Robot;
@@ -27,11 +25,6 @@ public static void configureBindings(Robot robot) {
 	private static void mainJoystickButtons(Robot robot) {
 		SmartJoystick usedJoystick = MAIN_JOYSTICK;
 		// bindings...
-
-		usedJoystick.A.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(100), Rotation2d.fromDegrees(210))));
-		usedJoystick.B.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(80))));
-		usedJoystick.X.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(150), Rotation2d.fromDegrees(75))));
-		usedJoystick.Y.onTrue(new InstantCommand(() -> robot.getArm().setAngles(Rotation2d.fromDegrees(95), Rotation2d.fromDegrees(85))));
 	}
 
 	private static void secondJoystickButtons(Robot robot) {
diff --git a/src/main/java/frc/robot/subsystems/DoubleJointedArm.java b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
index 6a6a236782..2abd1bddd2 100644
--- a/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
+++ b/src/main/java/frc/robot/subsystems/DoubleJointedArm.java
@@ -1,6 +1,8 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.joysticks.SmartJoystick;
 import org.littletonrobotics.junction.Logger;
 
 public class DoubleJointedArm extends GBSubsystem {
@@ -42,4 +44,11 @@ public void setAngles(Rotation2d a1, Rotation2d a2) {
 		setSecondJointAngle(a2);
 	}
 
+	public void applyTestBinds(SmartJoystick joystick) {
+		joystick.A.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(100), Rotation2d.fromDegrees(210))));
+		joystick.B.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(80))));
+		joystick.X.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(150), Rotation2d.fromDegrees(75))));
+		joystick.Y.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(95), Rotation2d.fromDegrees(85))));
+	}
+
 }