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

…tion, Deadline, Parallel, Race, and Sequence classes; fix method name typo in DriveCoordinatorCommands

…olerance, and XY tolerance in DriveConstants

Copilot

Pull request overview

Copilot reviewed 45 out of 56 changed files in this pull request and generated 3 comments.

Files not reviewed (1)

auto_generator/package-lock.json: Language not supported

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

Copilot · 2026-02-24T19:28:21Z

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

+  public void setDefaultCommand(Command command) {
+    var newDefaultCommand = (command == null) ? joystickCommand : command;
+    if (defaultCommand == newDefaultCommand) {
+      return;
+    }
+    var activeCommand = getCurrentActiveCommand();
+    if (defaultCommand == activeCommand) {
+      activeCommand.end(!activeCommand.isFinished());
+      if (newDefaultCommand != null) {
+        newDefaultCommand.initialize();
+      }
+    }
+    defaultCommand = newDefaultCommand;
+  }


DriveCoordinator defines setDefaultCommand(Command) but SubsystemBase already has a setDefaultCommand method used by the WPILib scheduler. Overriding it with a different meaning (manual lifecycle management) is likely to confuse future callers and prevents the scheduler from knowing the subsystem’s default command. Consider renaming this API (e.g., setFallbackCommand / setInternalDefaultCommand) or delegating to super.setDefaultCommand(...) if scheduler integration is still desired.

I would agree with CoPilot here; is this method indeed overriding its parent?
If so, it should not change the contract/semantics in any way

Copilot · 2026-02-24T19:28:21Z

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

+        if (Optional.class.isAssignableFrom(rawClass)) {
+          return "Partial<" + resolveType(args[0]) + ">";
+        }


resolveType maps Optional<T> to Partial<T>. Optional represents presence/absence of a value, while Partial means “object with some properties omitted” and is incorrect for primitives (e.g., Partial<number>) and misleading for objects. Generate a union type instead (e.g., T | undefined / T | null) and keep the property-level optionality handling separate.

…on; refactor auto commands to use new chaining method

Copilot

Pull request overview

Copilot reviewed 52 out of 63 changed files in this pull request and generated 9 comments.

Files not reviewed (1)

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Copilot · 2026-02-25T01:32:40Z

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

+    // drive.setDriveGains(JsonConstants.driveConstants.driveGains);
+    // drive.setSteerGains(JsonConstants.driveConstants.steerGains);


Commented-out code. Lines 172-173 contain commented-out calls to set drive and steer gains. If this code is no longer needed, it should be removed entirely. If it's temporarily disabled for testing, add a comment explaining why and when it should be re-enabled.

Copilot · 2026-02-25T01:32:41Z

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

+        if (field.isTypeScriptOptional) {
+          defaultValue = "undefined";
+        }
+        ;


Empty statement (lone semicolon) after the assignment on line 277. This semicolon on line 278 serves no purpose and should be removed.

Copilot · 2026-02-25T01:32:41Z

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

-  public void createStateMachine(DriveWithJoysticks command) {
-    driveStateMachine = new StateMachine<>(drive);
+  /**
+   * The active command is always has the periodic run currently before it checks if it is finished.


Grammatical error in JavaDoc comment. The sentence "The active command is always has the periodic run currently before it checks if it is finished" is grammatically incorrect and unclear. Consider revising to something like: "Returns the currently active command. The active command executes its periodic method before checking if it is finished."

Copilot · 2026-02-25T01:32:41Z

src/main/deploy/constants/comp/BlueFieldLocations.json

+      "radians": 0.0
+    },
+    "translation": {
+      "x": 0.0,
+      "y": 0.0
+    }
+  },
+  "rightClimbLocation": {
+    "rotation": {
+      "radians": 0.0
+    },
+    "translation": {
+      "x": 0.0,
+      "y": 0.0


Blue alliance climb locations are all set to (0, 0) with 0 rotation, which are likely placeholder values. Unlike the red alliance locations which have actual field coordinates (x=15.0, y=3.9 with rotation=-1.57079), the blue alliance locations need to be filled in with proper field coordinates for the blue side.

Suggested change

"radians": 0.0

},

"translation": {

"x": 0.0,

"y": 0.0

}

},

"rightClimbLocation": {

"rotation": {

"radians": 0.0

},

"translation": {

"x": 0.0,

"y": 0.0

"radians": 1.57079

},

"translation": {

"x": 1.54,

"y": 3.9

}

},

"rightClimbLocation": {

"rotation": {

"radians": 1.57079

},

"translation": {

"x": 1.54,

"y": 3.9

I'm curious as to where these numbers came from. They seem like they're at least on the right side of the field.

Copilot · 2026-02-25T01:32:41Z

src/main/deploy/constants/comp/RedFieldLocations.json

+  "rightClimbLocation": {
+    "rotation": {
+      "radians": 0.0
+    },
+    "translation": {
+      "x": 15.0,
+      "y": 3.9
+    }


Left and right climb locations for red alliance have identical translation coordinates (x=15.0, y=3.9) but different rotations. This seems unlikely to be correct - typically left and right climb locations would be at different positions on the field. Verify that these coordinates are intentional, or if the right climb location should have different x/y values.

Copilot · 2026-02-25T01:32:42Z

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

+  /**
+   * The active command is always has the periodic run currently before it checks if it is finished.
+   *
+   * @return
+   */


Incomplete JavaDoc comment. The @return tag has no description. Either provide a description of what is returned (the currently active command) or remove the @return tag since the method name and surrounding comment make it clear.

Copilot · 2026-02-25T01:32:42Z

auto_generator/src/AutoLib.ts

+  if (command_pointers.length !== 1) {
+    throw new Error("Pointer stack is not empty after auto command");
+  }
+  var endPointer = getPointer();


Use of 'var' instead of 'const' in TypeScript. Since 'endPointer' is not reassigned, it should be declared with 'const' for better immutability and modern TypeScript practices. The use of 'var' is discouraged in modern JavaScript/TypeScript due to its function-scoping behavior.

Suggested change

var endPointer = getPointer();

const endPointer = getPointer();

Copilot · 2026-02-25T01:32:42Z

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

+    if (currentCommand != null && currentCommand.isFinished()) {
+      currentCommand.end(false);
+      currentCommand = null;
+      defaultCommand.initialize();


Potential NullPointerException. When transitioning from a finished currentCommand to the defaultCommand, the code calls defaultCommand.initialize() without checking if defaultCommand is null. Although the constructor initializes defaultCommand to a non-null value, it's possible for external code to set it to null through setDefaultCommand. Add a null check before calling initialize() to prevent potential crashes.

Copilot · 2026-02-25T01:32:42Z

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

+    ensureUnitsFile();
+    if (hasImportedUnits) return;
+    hasImportedUnits = true;
+    // TODO: add import statement to the output for the units file if it hasn't been added already


Outdated TODO comment. The TODO states "add import statement to the output for the units file if it hasn't been added already", but the code immediately following (lines 822-825) already implements this functionality by appending the import statement to the output. This TODO comment should be removed as the task is complete.

aidnem · 2026-02-25T16:43:34Z

PSA for anyone else wondering why I requested an additional copilot review: if you use the VSCode GitHub extension to update the list of reviewers, it seems like it re-requests reviews from those whose check-boxes you leave checked, even if they were already on the list.

aidnem

I didn't make it all the way through this but I have to go so I'll go ahead and leave the comments that I have so far.

auto_generator/dist/auto_generator/src/newTestAuto.js.map

aidnem · 2026-02-25T16:46:59Z

auto_generator/dist/src/main/deploy/autos/Units.js

@@ -0,0 +1,71 @@
+export class Unit {


Do these need to be in the deploy folder? It's not a huge deal but we are technically sending these files to the robot whenever we deploy.

auto_generator/scripts/compile_autos.mjs

auto_generator/src/Shorthands.ts

aidnem · 2026-02-25T16:58:16Z

src/main/deploy/constants/test_drivebase/VisionConstants.json

    "maxAcceptedDistanceMeters": 10,
-    "linearStdDevFactor": 0.0014,
-    "angularStdDevFactor": 0.001,
+    "linearStdDevFactor": 0.014,


We may want to examine whether our jitter is caused by std devs or by slightly incorrect camera offsets/field element locations before we commit this change. Do you remember if it made it noticeably better?

I don't remember, but I do remember when there was less light the lower std devs were really inconsistent

src/main/deploy/typescript/Units.ts

src/main/java/frc/robot/auto/drive/AutoPilotAction.java

src/main/java/frc/robot/auto/AutoAction.java

aidnem · 2026-02-25T17:13:00Z

src/main/java/frc/robot/auto/AutoManager.java

+  }
+
+  public static void loadAutos() {
+    autos = Optional.ofNullable(jsonHandler.getObject(new Autos(), AUTOS_PATH.toString()));


Should we publish an auto chooser here?

aidnem · 2026-02-27T14:23:32Z

@avidraccoon what's the status of this? Can we work on getting this merged soon?

godmar · 2026-03-01T03:05:29Z

@avidraccoon could you work on @aidnem comments. I'd also like to review this when it's close getting merged.

…in AutoAction and JSON representations; adjust related constants in field location files

…ences in related classes

… AutoPilotAction using Optional

…ut; add Print action for console logging

…t command handling and chaining methods

…o-climb-state

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

…enhance serialization logic

…ess, and enhance serialization logic

…ce readability, and streamline command handling

…ve property and update target handling logic; introduce new Velocity unit type and related constants; update hood state machine diagram with new TargetExitPitchState

…g, support PerUnit naming, and improve measure name generation; clean up unused imports in ControllerSetup

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

avidraccoon added 3 commits February 24, 2026 13:28

refactor: Remove AdjustableLinearPath class as part of code cleanup

0101d39

refactor: Add null checks using Objects.requireNonNull in AutoPilotAc…

092d7ee

…tion, Deadline, Parallel, Race, and Sequence classes; fix method name typo in DriveCoordinatorCommands

feat: Add default auto-pilot parameters for beeline radius, heading t…

8a69906

…olerance, and XY tolerance in DriveConstants

avidraccoon requested a review from Copilot February 24, 2026 19:18

Copilot started reviewing on behalf of avidraccoon February 24, 2026 19:19 View session

Copilot AI reviewed Feb 24, 2026

View reviewed changes

feat: Implement TypeScript annotations for method and import generati…

b5a4d60

…on; refactor auto commands to use new chaining method

aidnem requested review from aidnem and Copilot February 25, 2026 01:24

Copilot started reviewing on behalf of aidnem February 25, 2026 01:24 View session

Copilot AI reviewed Feb 25, 2026

View reviewed changes

aidnem requested changes Feb 25, 2026

View reviewed changes

avidraccoon and others added 15 commits March 2, 2026 08:28

refactor: Update rotation handling to use degrees instead of radians …

2df37bd

…in AutoAction and JSON representations; adjust related constants in field location files

refactor: Rename AutoActionData to AutoActionContext and update refer…

794fc4e

…ences in related classes

refactor: Simplify profile initialization and constraints handling in…

52ca393

… AutoPilotAction using Optional

feat: Implement build and write scripts for auto compilation and outp…

f0fb3cd

…ut; add Print action for console logging

feat: Add XBasedAutoPilotAction and StopDriveAction classes; implemen…

fbeb258

…t command handling and chaining methods

I think this should Enforce Unit Typing

05985f5

prevent serializing non existent value

620f70c

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

1382f4c

…o-climb-state

Document use of AI

37ac0f1

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

8741374

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

Refactor AutoLib: standardize variable naming, improve comments, and …

7e8bf3c

…enhance serialization logic

Refactor AutoLib: improve variable declarations, simplify pointer acc…

b11e339

…ess, and enhance serialization logic

Refactor AutoLib and Shorthands: improve function organization, enhan…

16232b3

…ce readability, and streamline command handling

Enhance AutoPilotAction and XBasedAutoPilotAction: add allianceRelati…

b0c6f14

…ve property and update target handling logic; introduce new Velocity unit type and related constants; update hood state machine diagram with new TargetExitPitchState

Refactor unit types in TypeScriptGenerator: enhance base unit handlin…

3f3d562

…g, support PerUnit naming, and improve measure name generation; clean up unused imports in ControllerSetup

		// drive.setDriveGains(JsonConstants.driveConstants.driveGains);
		// drive.setSteerGains(JsonConstants.driveConstants.steerGains);

	var endPointer = getPointer();
	const endPointer = getPointer();

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avidraccoon commented Feb 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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avidraccoon commented Feb 20, 2026 •

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