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Finding Fixes in the Rewrite Dry Run #581

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06b31f0
Fix missing @Override and add path ignore for AdvantageKit generated …
irosenbery Apr 19, 2026
20d4ae4
Fixed Warning from Terminal
28PaulHauge Apr 19, 2026
dcf0cfa
Removed problem @Overides
28PaulHauge Apr 19, 2026
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -291,6 +291,6 @@ tasks.withType(JavaCompile).configureEach {
options.errorprone {
disableWarningsInGeneratedCode = true
// Exclude auto-generated files and vendor utilities we don't own
excludedPaths = '.*/BuildConstants\\.java|.*/LimelightHelpers\\.java'
excludedPaths = '.*/BuildConstants\\.java|.*/LimelightHelpers\\.java|.*/build/generated/.*'
}
}
4 changes: 1 addition & 3 deletions src/main/java/frc/robot/AutoChooser.java
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Expand Up @@ -110,9 +110,7 @@ private boolean matchesAlliance(String name, Optional<Alliance> alliance) {
return result;
}

/**
* @return the currently selected autonomous command
*/
/** return the currently selected autonomous command */
public Command getSelected() {
return chooser.getSelected();
}
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38 changes: 14 additions & 24 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -55,33 +55,23 @@ public static enum RobotType {
static RobotType robotType;

public static LinearVelocity getMaxSpeed() {
switch (getRobotType()) {
case WOODBOT:
return WoodBotConstants.maxSpeed;
case COMPBOT:
return CompBotConstants.maxSpeed;
case PRACTICEBOT:
return PracticeBotConstants.maxSpeed;
case SIM:
return SimulationConstants.maxSpeed;
default:
return PracticeBotConstants.maxSpeed;
}
return switch (getRobotType()) {
case WOODBOT -> WoodBotConstants.maxSpeed;
case COMPBOT -> CompBotConstants.maxSpeed;
case PRACTICEBOT -> PracticeBotConstants.maxSpeed;
case SIM -> SimulationConstants.maxSpeed;
default -> PracticeBotConstants.maxSpeed;
};
}

public static AngularVelocity getMaxAngularVelocity() {
switch (getRobotType()) {
case WOODBOT:
return WoodBotConstants.maxAngularVelocity;
case COMPBOT:
return CompBotConstants.maxAngularVelocity;
case PRACTICEBOT:
return PracticeBotConstants.maxAngularVelocity;
case SIM:
return SimulationConstants.maxAngularVelocity;
default:
return PracticeBotConstants.maxAngularVelocity;
}
return switch (getRobotType()) {
case WOODBOT -> WoodBotConstants.maxAngularVelocity;
case COMPBOT -> CompBotConstants.maxAngularVelocity;
case PRACTICEBOT -> PracticeBotConstants.maxAngularVelocity;
case SIM -> SimulationConstants.maxAngularVelocity;
default -> PracticeBotConstants.maxAngularVelocity;
};
}

public static RobotType getRobotType() {
Expand Down
12 changes: 5 additions & 7 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -64,18 +64,16 @@ public Robot() {
}

switch (Constants.getRobotType()) {
case SIM:
// Running a physics simulator, log to NT
Logger.addDataReceiver(new NT4Publisher());
break;
case REPLAY:
case SIM -> // Running a physics simulator, log to NT
Logger.addDataReceiver(new NT4Publisher());
case REPLAY -> {
// Replaying a log, set up replay source
setUseTiming(false); // Run as fast as possible
String logPath = LogFileUtil.findReplayLog();
Logger.setReplaySource(new WPILOGReader(logPath));
Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
break;
default:
}
default -> {}
}

Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
Expand Down
15 changes: 6 additions & 9 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -92,7 +92,6 @@
*/
public class RobotContainer {

private static final double PRE_SHOT_UNJAM_SECONDS = 0.05;
private static final double AUTO_SHOOT_TIMEOUT_SECONDS = 5.0;
private static final double AUTO_SHOOT_NO_LAUNCH_TIMEOUT_SECONDS = 0.8;

Expand Down Expand Up @@ -122,8 +121,6 @@ public class RobotContainer {
// Replace with CommandPS4Controller or CommandJoystick if needed

private final CommandXboxController driverCont = new CommandXboxController(0);
private final CommandXboxController operatorCont = new CommandXboxController(1);
private final CommandXboxController testCont1 = new CommandXboxController(5);

/** Threshold above which a loop cycle is considered an overrun (22ms for a 20ms loop). */
private static final double LOOP_OVERRUN_THRESHOLD_SECONDS = 0.022;
Expand Down Expand Up @@ -182,11 +179,11 @@ public RobotContainer() {
indexer = new Indexer(new IndexerIOWB());
vision =
new Vision(
((new VisionIOLimelight3G(
new VisionIOLimelight3G(
Constants.WoodBotConstants.LIMELIGHT_3,
() -> drivetrain.getAngle(),
() -> drivetrain.getAngularRate(),
true))));
true));
intakeRoller = new IntakeRoller(new IntakeRollerIOWB());
flywheelKicker = new FlywheelKicker(new FlywheelKickerIOWB());
intakePivot = new IntakePivot(new IntakePivotIONoop());
Expand Down Expand Up @@ -222,11 +219,11 @@ public RobotContainer() {
indexer = new Indexer(new IndexerIOPB());
vision =
new Vision(
((new VisionIOLimelight3G(
new VisionIOLimelight3G(
Constants.PracticeBotConstants.LIMELIGHT_RIGHT,
() -> drivetrain.getAngle(),
() -> drivetrain.getAngularRate(),
true))),
true),
new VisionIOLimelight3G(
Constants.PracticeBotConstants.LIMELIGHT_LEFT,
() -> drivetrain.getAngle(),
Expand Down Expand Up @@ -272,11 +269,11 @@ public RobotContainer() {
indexer = new Indexer(new IndexerIOCB());
vision =
new Vision(
((new VisionIOLimelight4(
new VisionIOLimelight4(
Constants.CompBotConstants.LIMELIGHT_RIGHT,
() -> drivetrain.getAngle(),
() -> drivetrain.getAngularRate(),
true))),
true),
new VisionIOLimelight4(
Constants.CompBotConstants.LIMELIGHT_LEFT,
() -> drivetrain.getAngle(),
Expand Down
9 changes: 0 additions & 9 deletions src/main/java/frc/robot/autos/BLinePaths.java
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Expand Up @@ -50,13 +50,4 @@ static Translation2d flipAndMirror(Translation2d t) {
static Rotation2d flipAndMirrorRotation(Rotation2d r) {
return mirrorRotation(flipRotation(r));
}

// ─────────────────────────────────────────────────────────────────────────────
// Rotation constants
// ─────────────────────────────────────────────────────────────────────────────

private static final Rotation2d ROT_0 = Rotation2d.fromDegrees(0);
private static final Rotation2d ROT_180 = Rotation2d.fromDegrees(180);
private static final Rotation2d ROT_90 = Rotation2d.fromDegrees(90);
private static final Rotation2d ROT_NEG_90 = Rotation2d.fromDegrees(-90);
}
16 changes: 7 additions & 9 deletions src/main/java/frc/robot/commands/XOutWhileAligningCommand.java
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Expand Up @@ -112,22 +112,22 @@ private void updateState(double vx, double vy, Rotation2d heading) {
Logger.recordOutput(LOG_PREFIX + "HasDriverInput", hasDriverInput);

switch (state) {
case FACING_ANGLE:
case FACING_ANGLE -> {
double entryErrorRad = heading.minus(drivetrain.getRotation2d()).getRadians();
if (!hasDriverInput && Math.abs(entryErrorRad) < HEADING_TOLERANCE_RAD) {
state = State.X_OUT;
}
break;
}

case X_OUT:
case X_OUT -> {
double headingErrorRad = heading.minus(drivetrain.getRotation2d()).getRadians();
boolean stillAligned = Math.abs(headingErrorRad) < HEADING_TOLERANCE_RAD;

if (hasDriverInput || !stillAligned) {
state = State.FACING_ANGLE;
drivetrain.resetHeadingController();
}
break;
}
}

Logger.recordOutput(LOG_PREFIX + "State", state.name());
Expand All @@ -142,15 +142,13 @@ private void updateState(double vx, double vy, Rotation2d heading) {
*/
private void applyState(double vx, double vy, Rotation2d heading) {
switch (state) {
case FACING_ANGLE:
case FACING_ANGLE -> {
boolean isBlueAlliance = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue;
drivetrain.faceAngleWhileDriving(
isBlueAlliance ? vx : -vx, isBlueAlliance ? vy : -vy, heading);
break;
}

case X_OUT:
drivetrain.xOut();
break;
case X_OUT -> drivetrain.xOut();
}
}

Expand Down
40 changes: 31 additions & 9 deletions src/main/java/frc/robot/generated/CompBotDrivetrain.java
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@@ -1,17 +1,39 @@
package frc.robot.generated;

import static edu.wpi.first.units.Units.*;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.Volts;

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.*;
import com.ctre.phoenix6.hardware.*;
import com.ctre.phoenix6.signals.*;
import com.ctre.phoenix6.swerve.*;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.Pigeon2Configuration;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.MomentOfInertia;
import edu.wpi.first.units.measure.Voltage;
import frc.robot.subsystems.CommandSwerveDrivetrain;

// Generated by the 2026 Tuner X Swerve Project Generator
Expand Down Expand Up @@ -108,7 +130,7 @@ public class CompBotDrivetrain {
private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);

public static final SwerveDrivetrainConstants DrivetrainConstants =
public static final SwerveDrivetrainConstants drivetrainConstants =
new SwerveDrivetrainConstants()
.withCANBusName(kCANBus.getName())
.withPigeon2Id(kPigeonId)
Expand Down Expand Up @@ -243,7 +265,7 @@ public class CompBotDrivetrain {
*/
public static CommandSwerveDrivetrain createDrivetrain() {
return new CommandSwerveDrivetrain(
DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
drivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
}

/** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */
Expand Down
40 changes: 31 additions & 9 deletions src/main/java/frc/robot/generated/PracticeBotDrivetrain.java
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@@ -1,17 +1,39 @@
package frc.robot.generated;

import static edu.wpi.first.units.Units.*;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.Volts;

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.*;
import com.ctre.phoenix6.hardware.*;
import com.ctre.phoenix6.signals.*;
import com.ctre.phoenix6.swerve.*;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.Pigeon2Configuration;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.MomentOfInertia;
import edu.wpi.first.units.measure.Voltage;
import frc.robot.subsystems.CommandSwerveDrivetrain;

// Generated by the 2026 Tuner X Swerve Project Generator
Expand Down Expand Up @@ -106,7 +128,7 @@ public class PracticeBotDrivetrain {
private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);

public static final SwerveDrivetrainConstants DrivetrainConstants =
public static final SwerveDrivetrainConstants drivetrainConstants =
new SwerveDrivetrainConstants()
.withCANBusName(kCANBus.getName())
.withPigeon2Id(kPigeonId)
Expand Down Expand Up @@ -241,7 +263,7 @@ public class PracticeBotDrivetrain {
*/
public static CommandSwerveDrivetrain createDrivetrain() {
return new CommandSwerveDrivetrain(
DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
drivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
}

/** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */
Expand Down
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