Chore/clean up autons

[Orcasphynx]

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AI Code Review

Hey team!

This pull request, "Chore/clean up autons," looks like a fantastic step towards refining our robot's autonomous capabilities and tidying up our PathPlanner project. Great work on focusing on these details!

Positive Highlights

• Improved Autonomous Logic: It's great to see the autonomous routines like Full Tour and Shoot.auto and HP Shoot Mid Sweep.auto being made more robust by explicitly integrating the "Stow Intake" command after shooting. This ensures consistent robot behavior and helps prevent potential issues.
• Enhanced Path Clarity with Linked Names: The consistent use of linkedName properties in paths like Collect - LEFT.path and Start To HP - HP SHOOT.path is a brilliant practice! It significantly improves the readability and reusability of our paths by clearly identifying key waypoints.
• Excellent Project Cleanup: Removing unused path and auto folders in settings.json is a huge win for maintaining a clean and organized PathPlanner workspace. This makes it much easier for everyone to find the relevant paths and autos without sifting through old or experimental files.

Suggestions

FRC/WPILib Best Practices

• Path Transition Velocities (HP Mid Half.path, HPShoot to Midfield.path, Mid field park.path):
  • Observation: You've updated goalEndState.velocity and idealStartingState.velocity in several paths from 0 to specific values like 1.5 or 2.0.
  • Recommendation: This is generally a great practice for creating smooth and efficient autonomous routines! When one path ends and another begins, ensuring that the goalEndState.velocity of the first path matches the idealStartingState.velocity of the next path helps the robot transition seamlessly without unnecessary stops or jerks. This can lead to more precise and faster autonomous performance. Just ensure that these values are indeed matched across consecutive paths in your auto sequences.

Code Quality & Organization

• Path Naming Consistency (HP Shoot Mid Collect Park.auto, HP Shoot Mid Sweep.auto):
  • Observation: The autons HP Shoot Mid Collect Park.auto and HP Shoot Mid Sweep.auto now both refer to HP Mid Half.path instead of HP Mid Sweep.path.
  • Recommendation: This change is perfectly fine if HP Mid Half.path is the intended path. It might be helpful to confirm that the HP Mid Sweep.path (if it still exists) is no longer needed and could be considered for deletion to keep the path folders clean, similar to the settings.json cleanup. This ensures that only relevant and actively used paths remain in our project.

Questions

• For the new idealStartingState.rotation value in Overbump to Shoot - LEFT.path (-88.56790381583522), was this specific value determined through testing, or is it a fine-tuned version of a more rounded angle? Understanding the precision here can help with future path tuning.

Overall, this is a really solid pull request that shows a great attention to detail in our autonomous system! Keep up the excellent work in making our robot's behavior clear, reliable, and efficient.

Great job!

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This review was automatically generated by AI. Please use your judgment and feel free to discuss any suggestions!

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