visualize all changes since bayou

.gitignore

@@ -1,6 +1,8 @@
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
 
+BuildConstants.java
+
 ### C++ ###
 # Prerequisites
 *.d

.pathplanner/settings.json

@@ -14,7 +14,7 @@
     "Normal",
     "OBJ"
   ],
-  "defaultMaxVel": 5.0,
+  "defaultMaxVel": 4.5,
   "defaultMaxAccel": 3.5,
   "defaultMaxAngVel": 1137.21,
   "defaultMaxAngAccel": 1492.9,

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 repositories {
@@ -17,6 +18,7 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main"
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
+
     targets {
         roborio(getTargetTypeClass('RoboRIO')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
@@ -72,6 +74,9 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     implementation 'com.github.shueja:Monologue:v1.0.0-beta6'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -102,3 +107,34 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/Los_Angeles" // Use preferred time zone
+  indent       = "  "
+}

src/main/deploy/pathplanner/autos/S C1-5 S Over W1 DEF.auto

@@ -0,0 +1,69 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.2422530556147342,
+      "y": 7.161301131112901
+    },
+    "rotation": -124.91237183543709
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "FullPowerPreload2"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "S C1"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopAll"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ToIndexer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "C1toC5default"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Normal",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/S C1-5 S Over W1.auto

@@ -5,36 +5,16 @@
       "x": 1.2422530556147342,
       "y": 7.161301131112901
     },
-    "rotation": -128.23889760719103
+    "rotation": -124.91237183543709
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "ShootInstantlyWhenReady"
-                      }
-                    }
-                  ]
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "PrepareSWD"
-                }
-              }
-            ]
+            "name": "FullPowerPreload2"
           }
         },
         {
@@ -65,15 +45,15 @@
                 "data": {
                   "commands": [
                     {
-                      "type": "wait",
+                      "type": "named",
                       "data": {
-                        "waitTime": 1.7
+                        "name": "StopAll"
                       }
                     },
                     {
-                      "type": "named",
+                      "type": "wait",
                       "data": {
-                        "name": "StopAll"
+                        "waitTime": 1.0
                       }
                     },
                     {

src/main/deploy/pathplanner/autos/S W3-1 S C2-3 S 2 OBJ.auto → src/main/deploy/pathplanner/autos/S C2-3 S.auto

@@ -2,80 +2,81 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3387789373563073,
-      "y": 5.55
+      "x": 1.3216735004898588,
+      "y": 6.301761136557157
     },
-    "rotation": 179.22577983507193
+    "rotation": -151.5616809371522
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
-          "type": "deadline",
+          "type": "named",
+          "data": {
+            "name": "FullPowerPreload3"
+          }
+        },
+        {
+          "type": "race",
           "data": {
             "commands": [
               {
                 "type": "sequential",
                 "data": {
                   "commands": [
                     {
-                      "type": "named",
+                      "type": "path",
                       "data": {
-                        "name": "ShootWhenReady"
+                        "pathName": "S C2"
                       }
                     },
                     {
-                      "type": "path",
+                      "type": "wait",
                       "data": {
-                        "pathName": "S W3-1 2"
+                        "waitTime": 0.3
                       }
-                    },
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
                     {
                       "type": "named",
                       "data": {
-                        "name": "ShootInstantlyWhenReady"
+                        "name": "StopAll"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
                       }
                     },
                     {
                       "type": "named",
                       "data": {
-                        "name": "EnableLimelight"
+                        "name": "ToIndexer"
                       }
                     }
                   ]
                 }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "PrepareSWD"
-                }
               }
             ]
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S C2 N"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "C2toC3"
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "C3toC1"
+            "name": "C2toC3nonOBJ"
           }
         }
       ]
     }
   },
-  "folder": "OBJ",
+  "folder": "Normal",
   "choreoAuto": false
 }