Auto generation tests

.DataLogTool/datalogtool.json

@@ -0,0 +1,5 @@
+{
+  "download": {
+    "serverTeam": "2539"
+  }
+}

.SysId/sysid.json

@@ -0,0 +1,9 @@
+{
+  "SysId": {
+    "Data Selector": {
+      "window": {
+        "visible": false
+      }
+    }
+  }
+}

.gitignore

@@ -184,3 +184,6 @@ ctre_sim/
 # clangd
 /.cache
 compile_commands.json
+
+# paths
+src/main/deploy/pathplanner/paths

build.gradle

@@ -28,12 +28,34 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+
+                    // Advantage Kit suggestions
+                    jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
+                    jvmArgs.add("-XX:GCTimeRatio=5")
+                    jvmArgs.add("-XX:+UseSerialGC")
+                    jvmArgs.add("-XX:MaxGCPauseMillis=50")
+
+                    // The options below may improve performance, but should only be enabled on the RIO 2
+
+                    final MAX_JAVA_HEAP_SIZE_MB = 100;
+                    jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-XX:+AlwaysPreTouch")
+
+                    // Enable VisualVM connection
+                    jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+                    jvmArgs.add("-Djava.rmi.server.hostname=10.25.39.2") // Replace TE.AM with team number
                 }
 
                 // Static files artifact
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = true
                 }
             }
         }
@@ -54,7 +76,12 @@ task(replayWatch, type: JavaExec) {
     classpath = sourceSets.main.runtimeClasspath
 }
 
+def simGUI
 
+task(generateTrajectories, type: JavaExec) {
+    mainClass = "frc.robot.auto.AutoGenerators"
+    classpath = sourceSets.main.runtimeClasspath
+}
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -90,7 +117,7 @@ test {
 }
 
 // Simulation configuration (e.g. environment variables).
-wpi.sim.addGui().defaultEnabled = true
+simGUI = wpi.sim.addGui().defaultEnabled = false
 wpi.sim.addDriverstation()
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

src/main/deploy/choreo/autos.chor

@@ -1,6 +1,6 @@
 {
  "name":"autos",
- "version":"v2025.0.0",
+ "version":1,
  "type":"Swerve",
  "variables":{
   "expressions":{},
@@ -28,41 +28,45 @@
    }
   },
   "mass":{
-   "exp":"74.088 kg",
-   "val":74.088
+   "exp":"44 kg",
+   "val":44.0
   },
   "inertia":{
-   "exp":"6.883 kg m ^ 2",
-   "val":6.883
+   "exp":"4 kg m ^ 2",
+   "val":4.0
   },
   "gearing":{
-   "exp":"6.75",
-   "val":6.75
+   "exp":"6.746",
+   "val":6.746
   },
   "radius":{
-   "exp":"2 in",
-   "val":0.0508
+   "exp":"0.049 m",
+   "val":0.049
   },
   "vmax":{
-   "exp":"485.89966375522135 rad / s",
-   "val":485.8996637552213
+   "exp":"4600 rpm",
+   "val":481.71087355043494
   },
   "tmax":{
-   "exp":"1.163975155279503 N m",
-   "val":1.163975155279503
+   "exp":"0.2 N * m",
+   "val":0.2
+  },
+  "cof":{
+   "exp":"1",
+   "val":1.0
   },
   "bumper":{
    "front":{
-    "exp":"0.457 m",
-    "val":0.457
+    "exp":"0.921 / 2 m",
+    "val":0.4605
    },
    "side":{
-    "exp":"0.457 m",
-    "val":0.457
+    "exp":"0.921 / 2 m",
+    "val":0.4605
    },
    "back":{
-    "exp":"0.457 m",
-    "val":0.457
+    "exp":"0.921 / 2 m",
+    "val":0.4605
    }
   },
   "differentialTrackWidth":{
@@ -71,4 +75,4 @@
   }
  },
  "generationFeatures":[]
-}
+}

src/main/deploy/pathplanner/autos/Test 1M.auto → src/main/deploy/pathplanner/autos/Center Auto.auto

@@ -7,7 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "1M"
+            "pathName": "CenterLeftStart-H"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H-SourceLeft"
           }
         }
       ]

src/main/deploy/pathplanner/autos/Test Half Field.auto → src/main/deploy/pathplanner/autos/Fun Auto.auto

@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Half-Field Sprint"
+            "pathName": "SourceRight-D"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "height L4"
+            "pathName": null
           }
         }
       ]

src/main/deploy/pathplanner/autos/Screaming Internally.auto

@@ -0,0 +1,127 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RStart-E"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location E"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E-CS2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CS2-D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D-CS2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CS2-C"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location C"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "C-CS2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CS2-B"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location B"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}