65 refactor drivecoordinator and add drive to climb state by avidraccoon · Pull Request #70 · team401/2026-Robot-Code

avidraccoon · 2026-02-20T01:22:30Z

This pull request introduces a new TypeScript-based auto-generation system for robot autonomous routines, including infrastructure for compiling, registering, and serializing auto actions, as well as updates to field and drive constants. The most important changes are grouped below:

Auto Generator System Implementation

Added a new auto_generator directory with TypeScript configuration (tsconfig.json), build scripts (compile_autos.mjs, run_autos.mjs), and supporting files for compiling and running auto routines. This includes a sample auto routine (newTestAuto.ts) and utility modules (AutoLib.ts, Shorthands.ts). [1] [2] [3] [4] [5] [6] [7]
Introduced a comprehensive set of classes in AutoAction.ts to represent auto actions, targets, profiles, gains, and related types for serialization and execution.

Auto Serialization and Output

The system now generates a single Autos.json file in src/main/deploy containing serialized auto routines, such as the "Random Auto" sequence for testing.

Field and Drive Constants Updates

Updated DriveConstants.json files to include defaultAutoPilotHeadingGains, providing default PID gains for autopilot heading control in both competition and test drivebase configurations. [1] [2]
Added climb locations to BlueFieldLocations.json and RedFieldLocations.json, specifying translation and rotation for left and right climb positions. [1] [2]

Vision and Controller Configuration

Adjusted vision gain constants in VisionConstants.json for the test drivebase, increasing the standard deviation factors.
Added a sample vision configuration file (vision-sample.json) and updated controller bindings in controllers-xbox.json to include a new test command. [1] [2]

Miscellaneous

Added .gitignore entries for node_modules and dist to the auto_generator directory.

…ase flags

…ronment

Adds a Python script that validates JSON constant files against their corresponding Java class fields, catching silently ignored keys at build time. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

… feb-11-shop

Use javap -verbose to read RuntimeVisibleAnnotations from .class files, so fields annotated with @JSONExclude are excluded from the missing-key check. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

… feb-11-shop

Adds a new /vision page with gain constants editing, camera add/remove with slider+text controls for translation and rotation, and wire format conversion between flat camera keys and array model. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…forms

Add synced inches input alongside meters for translation fields, with local state to allow arbitrary precision typing. Add npm dev:robot script to proxy API to robot at 10.4.1.2. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Relabel "Save" → "Save to Robot" and "Save & Activate" → "Save to Robot & Activate" in both ShotMapsEditor and VisionEditor. Add a "Save to Local" button that writes config JSON to the source tree via a new Vite dev server middleware endpoint. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…Angle

Static fields are not serialized to/from JSON, so they should not be checked for presence in constant JSON files. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Add a GET /local-load endpoint to read config JSON from the source tree, a loadLocal API function, and "Load from Local" buttons in both ShotMapsEditor and VisionEditor. Also refactors the Vite plugin to share validation logic between load and save routes. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

… for comp bot

avidraccoon · 2026-03-11T02:30:01Z

I am currently trying to see if putting a null check before it gets to that constructor fixes it

godmar · 2026-03-11T02:32:19Z

I am currently trying to see if putting a null check before it gets to that constructor fixes it

Is this the entryAngle in JSONAPTarget that's null?

avidraccoon · 2026-03-11T02:34:48Z

I am currently trying to see if putting a null check before it gets to that constructor fixes it

Is this the entryAngle in JSONAPTarget that's null?

Probably

But I have a solution for this that works, and I am making an issue and branch on coppercore right now.

godmar · 2026-03-11T02:35:38Z

When I put a new Rotation2d() in there instead of a null, then it crashes on rotationRadius:

   this.rotationRadius = target.getRotationRadius().orElse(null);

avidraccoon · 2026-03-11T02:39:13Z

@godmar Here is the pull request for the fix

godmar · 2026-03-11T20:04:00Z

auto_generator/src/auto_lib.py

+# Auto registration
+# ---------------------------------------------------------------------------
+
+_autos: Dict[str, Any] = {}


What's the difference between _autos and _routines?

godmar · 2026-03-11T20:08:22Z

auto_generator/src/auto_lib.py

+# Internal pointer stack
+# ---------------------------------------------------------------------------
+
+_command_pointers: List[List[Any]] = []


I think that ContextVars might be better to use here than a global variable.

godmar · 2026-03-11T20:10:19Z

auto_generator/src/auto_lib.py

+def serialize_autos() -> str:
+    """Serializes all registered autos to a JSON string."""
+    result = {name: _serialize_value(action) for name, action in _autos.items()}
+    return json.dumps(result, indent=4)


indent=2 would be better here IMO.

godmar · 2026-03-11T20:11:46Z

auto_generator/src/constants.py

+    jerk=0.1,
+)
+
+left_climb_location = FieldConstants.Tower.left_upright().to_pose2d().transform_by(climb_offset)


verify that this works for either alliance.

godmar · 2026-03-11T20:12:21Z

auto_generator/src/constants.py

+
+climb_lineup_velocity = 100.0
+
+climb_left_lineup_entry_angle = rotation2d(degrees=0)


same question: does this angle work for both alliances?

godmar · 2026-03-11T20:49:11Z

src/main/java/frc/robot/subsystems/drive/DriveCoordinatorCommands.java

+      headingController.reset();
+    }
+
+    @Override


Comments are missing. What is the purpose of this function?

godmar · 2026-03-11T20:50:13Z

src/main/java/frc/robot/util/ts/PythonAppend.java

@@ -0,0 +1,25 @@
+package frc.robot.util.ts;


This is no longer .ts is it.

godmar · 2026-03-11T20:51:36Z

src/main/java/frc/robot/util/ts/PythonGeometryMethods.java

+        // properties
+        m(
+            """
+    @property


Again, why is there so much python code in Java string literals?

godmar · 2026-03-11T20:53:13Z

src/main/java/frc/robot/RobotContainer.java

    CopperCoreMetadata.printInfo();

-    jsonHandler = JsonConstants.loadConstants();
+    jsonHandler = JsonConstants.loadConstants(this);


Looks like this is passing a half-initialized RobotContainer

godmar · 2026-03-11T20:54:27Z

build.gradle

-    def coppercoreVersion = "2026.2.15"
+    def coppercoreVersion = "2026.2.16"
+
+    implementation "com.google.code.gson:gson:2.11.0"


why is this necessary and how do we guarantee it matches coppercore's?

aidnem · 2026-03-12T00:44:51Z

@godmar I verified that these climb changes are legitimate; we did some climb tuning during auto tuning.

…s for consistency; update Autos.json to enhance auto sequences.

…o-climb-state

godmar · 2026-03-12T01:41:45Z

@godmar I verified that these climb changes are legitimate; we did some climb tuning during auto tuning.

Thanks! Let's be careful, so close to the finish line.

@avidraccoon can you revise so that, perhaps, we can merge tomorrow before or during shop? At least the parts that aren't referring to specific autos.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

aidnem · 2026-03-13T03:46:47Z

How did everything go today? Can we get this merged tomorrow?

godmar · 2026-03-13T11:41:52Z

How did everything go today? Can we get this merged tomorrow?

We tried some autos, but had trouble with taking in enough fuel and it's not clear what the strategy is when it comes to deciding on where to shoot from.

I think this branch has now become the quasi integration branch. @avidraccoon made a number of changes, I hope all of them made it in here.

I would like @avidraccoon to prioritize getting this merged. Some of my comments we won't have time to address.

avidraccoon · 2026-03-13T11:45:58Z

How did everything go today? Can we get this merged tomorrow?

We tried some autos, but had trouble with taking in enough fuel and it's not clear what the strategy is when it comes to deciding on where to shoot from.

I think this branch has now become the quasi integration branch. @avidraccoon made a number of changes, I hope all of them made it in here.

I would like @avidraccoon to prioritize getting this merged. Some of my comments we won't have time to address.

Still need to push the commits from last night I think

…hooting performance; update JSON configurations for better action sequences.

…te' of https://github.com/team401/2026-Robot-Code into 65-refactor-drivecoordinator-and-add-drive-to-climb-state

…ot last night we were we were coming very close to hitting the trench.

… hit the trench

…o-climb-state

Theta Back and others added 30 commits February 11, 2026 21:34

state after leaving shop

8c6afbd

(#57) Default all featureflags to false and add shooter to test_drive…

acdef06

…ase flags

(#57) Add feature flag logging

94b32e3

(#57) Add environment logging and switch back to test drivebasen envi…

b0b0725

…ronment

Hopefully add the correct drive constants for the test drivebase

a904978

Add CI check for wrong options in JSON constants

bdcf61a

Adds a Python script that validates JSON constant files against their corresponding Java class fields, catching silently ignored keys at build time. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Merge remote-tracking branch 'origin/59-check-for-wrong-options' into…

6227ec6

… feb-11-shop

(#56) fixed IndexerConstants and PhysicalDriveConstants

b712d4b

(#56) fix ShooterConstants.json

c5512c2

Fix TurretConstants.json

271af05

Detect missing JSON keys and respect @JSONExclude annotation

fdc9373

Use javap -verbose to read RuntimeVisibleAnnotations from .class files, so fields annotated with @JSONExclude are excluded from the missing-key check. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Merge remote-tracking branch 'origin/59-check-for-wrong-options' into…

2b804de

… feb-11-shop

shop checkin

9bac141

Fix drive being inverted for each alliance

b14994b

added pretendCamerasAreMobile flag that allows tuning of vision trans…

1e4264e

…forms

increase memory for language server so it doesn't OOM all the time

849ef11

added missing HoodConstants.json

e7b88fb

added invertFollower, mechanismCompensationDelay, and headingToTurret…

2dc71d9

…Angle

removed space

e17b285

recreated HopperConstants from .java

32da659

Skip static fields in constants JSON validation

7ca78f5

Static fields are not serialized to/from JSON, so they should not be checked for presence in constant JSON files. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Fix vision pitch being inverted

dbb871f

Add fake climb lineup for shop testing

49e5621

Add JVM args for visualVM and GC stuff

1b6f716

Remove unused 'homing' constants from hopper

ed02803

Swap comp CANbus/physical drivetrain constants back to correct values…

34b94fe

… for comp bot

Update coppercore version to 2026.2.17 in build.gradle

a800e3e

godmar self-requested a review March 11, 2026 19:58

godmar reviewed Mar 11, 2026

View reviewed changes

avidraccoon and others added 2 commits March 11, 2026 20:47

Refactor drive command methods in DriveCoordinator and related classe…

9537065

…s for consistency; update Autos.json to enhance auto sequences.

Merge branch 'main' into 65-refactor-drivecoordinator-and-add-drive-t…

0bf3378

…o-climb-state

godmar and others added 3 commits March 12, 2026 19:07

Add rpmCompensation field to shot maps editor UI

c069572

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Getting some autos working and working on shooting

2aa438f

Move compensation fields to compact row above tab chooser

3bf2914

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

godmar mentioned this pull request Mar 13, 2026

Add shot map cleaning script to test removing unnecessary data points #117

Open

avidraccoon added 11 commits March 13, 2026 09:36

Enhance autonomous routines and constants for improved climbing and s…

9e1f000

…hooting performance; update JSON configurations for better action sequences.

Merge branch '65-refactor-drivecoordinator-and-add-drive-to-climb-sta…

9966109

…te' of https://github.com/team401/2026-Robot-Code into 65-refactor-drivecoordinator-and-add-drive-to-climb-state

Make the auto not stop to start shooting

9015f92

GIve the trench a little bit more tolerance because when going to sho…

bbf0c23

…ot last night we were we were coming very close to hitting the trench.

Switch to using entry angle to make sure the pathing does not try and…

ecdacab

… hit the trench

Working on improving autos

e85dfc1

Refactor autonomous routines and remove deprecated files

294c1a5

Add separate roller speeds for teleop and autonomous modes

9d43aed

Remove old climb lineup logic and constants

4bc753f

New Drive Encoder Offset

c5c6d0d

Merge branch 'main' into 65-refactor-drivecoordinator-and-add-drive-t…

c1871c9

…o-climb-state


		climb_lineup_velocity = 100.0

		climb_left_lineup_entry_angle = rotation2d(degrees=0)

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avidraccoon commented Feb 20, 2026 •

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