auto following works now with the json by Dhairya-exe · Pull Request #3 · HighlandersFRC/2026-RobotPathing

Dhairya-exe · 2025-11-25T02:04:48Z

everything in autorunner.java and the sample_path.json in the deploy directory

John-Wiens · 2025-11-25T03:34:35Z

2026-Robot/src/main/java/frc/robot/commands/FollowPath.java

+
+  @Override
+  public void execute() {
+    if (currentIndex >= points.size())


This isn't right.

Also always use {}

John-Wiens · 2025-11-25T03:45:50Z

2026-Robot/src/main/java/frc/robot/commands/FollowPath.java

+    double distance = Math.hypot(dx, dy);
+    double dtheta = wrapAngle(target.theta - pose.getRotation().getRadians());
+
+    if (distance < POSITION_TOLERANCE && Math.abs(dtheta) < ANGLE_TOLERANCE) {


This logic will not work properly depending on sample rate.

made it time based instead so I don't need to use that logic

John-Wiens · 2025-11-25T17:41:15Z

2026-Robot/src/main/deploy/2025-reefscape-welded.json

What is this file for? Is it related to pathing?

its just the april tag map for the cameras

John-Wiens · 2025-11-25T18:16:27Z

2026-Robot/src/main/java/frc/robot/Constants.java

+    public static final double ACCURATE_FOLLOWER_FEED_FORWARD_MULTIPLIER = 1;
+    public static String[] paths;
+
+    static {


Are you still using .polarauto files?

changed to .json

John-Wiens · 2025-11-25T18:17:53Z

2026-Robot/src/main/java/frc/robot/OI.java

+        return driverController.getRightTriggerAxis();
+    }
+
+    // public static double getDriverLTPercent() {


Remove code instead of just commenting it out.

its for the other controller that has a bad trigger.

John-Wiens · 2025-11-25T18:18:41Z

2026-Robot/src/main/java/frc/robot/OI.java

+
+    public static double getOperatorRightY() {
+        double rightX = operatorController.getRightX(), rightY = operatorController.getRightY();
+        if (Math.hypot(rightX, rightY) < Constants.OperatorConstants.LEFT_STICK_DEADZONE) {


Why are you comparing your right joystick values to the left stick deadzone

John-Wiens · 2025-11-25T18:19:31Z

2026-Robot/src/main/java/frc/robot/OI.java

+        return leftY;
+    }
+
+    public static double getOperatorRightX() {


Why are you comparing your right joysticks to the left stick dead zone.

John-Wiens · 2025-11-25T19:23:13Z

2026-Robot/src/main/java/frc/robot/tools/controlloops/PID.java

+    // Dictates the inputs and outputs
+    private double maxInput;
+    private double minInput;
+    private double maxOutput = 1500;// defaults to 100% and -100% motor power


Why are these set to 1500? Should be -1 and 1 for 100% power

2026-Robot/src/main/java/frc/robot/tools/controlloops/PID.java

2026-Robot/src/main/java/frc/robot/tools/math/PID.java

John-Wiens · 2025-11-25T19:29:08Z

2026-Robot/src/main/java/frc/robot/subsystems/Peripherals.java

+import frc.robot.tools.math.Vector;
+
+public class Peripherals {
+    private PhotonCamera frontReefCam = new PhotonCamera("Front_Reef");


Remove code components you don't have implemented yet.

There is too much code in drive that references the camera stuff, but it doesn't effect anything if I don't have anything plugged in.

2026-Robot/src/main/java/frc/robot/subsystems/Peripherals.java

Copilot

Pull request overview

This PR implements an autonomous path following system using JSON-based configuration. The main changes add infrastructure for conditional execution, path following commands, and various utility classes for vector math, PID control, and robot subsystems.

Reviewed changes

Copilot reviewed 45 out of 48 changed files in this pull request and generated 22 comments.

Show a summary per file

File	Description
photonlib.json, WPILibNewCommands.json, Phoenix6-frc2025-latest.json, AdvantageKit.json	Added vendor dependency configurations for vision, commands, motor controllers, and logging
AutoFollower.java	Abstract base class defining interface for path following commands
Vector.java	Vector math utility for 2D calculations
PID.java (tools/math)	Basic PID controller implementation
PID.java (tools/controlloops)	Enhanced PID controller with detailed documentation
TriggerButton.java	Simple wrapper extending WPILib Trigger
PathLoader.java	Utility to load path data from JSON files
SwerveModule.java	Comprehensive swerve module control implementation
Superstructure.java	High-level robot state management
Peripherals.java	Sensor and camera management subsystem
Drive.java	Main drive subsystem with path following, odometry, and vision
Conditional classes	Interface and implementations for autonomous branching logic
SetRobotState commands	Various command classes for state management
AutoRunner.java	Command orchestrator for JSON-based autonomous routines

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2025-11-26T16:17:19Z

2026-Robot/src/main/java/frc/robot/subsystems/Superstructure.java

+import java.util.function.BooleanSupplier;
+import java.util.function.IntFunction;
+
+import javax.lang.model.util.ElementScanner14;


Unused import 'javax.lang.model.util.ElementScanner14' should be removed. This is a compiler-related utility that is not used anywhere in this file and should not be present in robot code.

Copilot · 2025-11-26T16:17:20Z

2026-Robot/src/main/java/frc/robot/subsystems/Superstructure.java

+
+import org.littletonrobotics.junction.Logger;
+
+import com.fasterxml.jackson.databind.ser.BeanSerializer;


Unused import 'com.fasterxml.jackson.databind.ser.BeanSerializer' should be removed. This import is not used anywhere in the file.

Copilot · 2025-11-26T16:17:20Z

2026-Robot/src/main/java/frc/robot/subsystems/Superstructure.java

+package frc.robot.subsystems;
+
+import java.util.function.BooleanSupplier;
+import java.util.function.IntFunction;


Unused import 'java.util.function.IntFunction' should be removed. This import is not used anywhere in the file.

Copilot · 2025-11-26T16:17:20Z

2026-Robot/src/main/java/frc/robot/commands/Trigger.java

+    private void check() {
+        if (condition.getAsBoolean()) {
+            runCommands();
+        }
+    }


The 'check()' method is never called, making this Trigger class non-functional. Either implement periodic checking (e.g., in Robot.periodic) or remove the unused method.

Copilot · 2025-11-26T16:17:20Z

2026-Robot/src/main/java/frc/robot/tools/wrappers/AutoFollower.java

+import edu.wpi.first.wpilibj2.command.Command;
+
+public abstract class AutoFollower extends Command {
+    /** Creates a new PolarTakeDrive. */


Incorrect JavaDoc comment references 'PolarTakeDrive' instead of 'AutoFollower'. The documentation should match the actual class name.

Copilot · 2025-11-26T16:17:24Z

2026-Robot/src/main/java/frc/robot/Constants.java

+  /**
+   * Converts feet to meters.
+   *
+   * @param inches The length in feet to be converted.


@param tag "inches" does not match any actual parameter of method "feetToMeters()".

Suggested change

* @param inches The length in feet to be converted.

* @param feet The length in feet to be converted.

Copilot · 2025-11-26T16:17:24Z

2026-Robot/src/main/java/frc/robot/Constants.java

+  /**
+   * Converts a quantity in degrees to rotations.
+   *
+   * @param rotations The quantity in degrees to be converted.


@param tag "rotations" does not match any actual parameter of method "degreesToRotations()".

Suggested change

* @param rotations The quantity in degrees to be converted.

* @param degrees The quantity in degrees to be converted.

Copilot · 2025-11-26T16:17:24Z

2026-Robot/src/main/java/frc/robot/Constants.java

+  /**
+   * Converts a quantity in degrees to radians.
+   *
+   * @param rotations The quantity in degrees to be converted.


@param tag "rotations" does not match any actual parameter of method "degreesToRadians()".

Suggested change

* @param rotations The quantity in degrees to be converted.

* @param degrees The quantity in degrees to be converted.

Copilot · 2025-11-26T16:17:25Z

2026-Robot/src/main/java/frc/robot/Constants.java

+  /**
+   * Converts revolutions per second (RPS) to revolutions per minute (RPM).
+   *
+   * @param RPM The value in revolutions per second (RPS) to be converted.


@param tag "RPM" does not match any actual parameter of method "RPSToRPM()".

Suggested change

* @param RPM The value in revolutions per second (RPS) to be converted.

* @param RPS The value in revolutions per second (RPS) to be converted.

Copilot · 2025-11-26T16:17:25Z

2026-Robot/src/main/java/frc/robot/tools/wrappers/AutoFollower.java

+    /** Creates a new PolarTakeDrive. */
+    public abstract int getPathPointIndex();
+
+    public abstract void initialize();


This method overrides Command.initialize; it is advisable to add an Override annotation.

auto following works now with the json

5f0dd51

Dhairya-exe requested a review from John-Wiens November 25, 2025 02:04

John-Wiens reviewed Nov 25, 2025

View reviewed changes

John-Wiens requested changes Nov 25, 2025

View reviewed changes

John-Wiens requested a review from Copilot November 26, 2025 16:12

Copilot started reviewing on behalf of John-Wiens November 26, 2025 16:12 View session

Copilot finished reviewing on behalf of John-Wiens November 26, 2025 16:13

Copilot AI reviewed Nov 26, 2025

View reviewed changes

fixes for the pr

057e2d0


		import org.littletonrobotics.junction.Logger;

		import com.fasterxml.jackson.databind.ser.BeanSerializer;

	* @param inches The length in feet to be converted.
	* @param feet The length in feet to be converted.

	* @param rotations The quantity in degrees to be converted.
	* @param degrees The quantity in degrees to be converted.

	* @param RPM The value in revolutions per second (RPS) to be converted.
	* @param RPS The value in revolutions per second (RPS) to be converted.

Conversation

Dhairya-exe commented Nov 25, 2025

Uh oh!

John-Wiens Nov 25, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Copilot AI Nov 26, 2025

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

John-Wiens Nov 25, 2025 •

edited

Loading