hackbots-3414 · bczdog · Mar 24, 2026 · Jan 22, 2026 · Jan 22, 2026 · Jan 23, 2026
diff --git a/CompBot/.vscode/settings.json b/CompBot/.vscode/settings.json
@@ -57,5 +57,6 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.dependency.enableDependencyCheckup": false
+  "java.dependency.enableDependencyCheckup": false,
+  "java.debug.settings.onBuildFailureProceed": true
 }
diff --git a/CompBot/build.gradle b/CompBot/build.gradle
@@ -31,6 +31,13 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    // 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=10.34.14.2")
                 }
 
                 // Static files artifact
@@ -54,9 +61,9 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
-configurations {
-    mockitoAgent
-}
+// configurations {
+//     mockitoAgent
+// }
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -65,6 +72,10 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
+    // adding logging support, latest for slf4j and logback (they work together)
+    implementation "org.slf4j:slf4j-api:2.0.1"
+    implementation "ch.qos.logback:logback-classic:1.4.14"
+
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
@@ -81,22 +92,18 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-    testImplementation 'org.mockito:mockito-core:5.+'
+    // testImplementation 'org.mockito:mockito-core:5.+'
 
-    mockitoAgent('org.mockito:mockito-core:5.+') {
-        transitive = false
-    }
-
-    // adding logging support, latest for slf4j and logback (they work together)
-    implementation "org.slf4j:slf4j-api:2.0.1"
-    implementation "ch.qos.logback:logback-classic:1.4.14"
+    // mockitoAgent('org.mockito:mockito-core:5.+') {
+    //     transitive = false
+    // }
 
 }
 
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
-    jvmArgs += "-javaagent:${configurations.mockitoAgent.asPath}"
+    // jvmArgs += "-javaagent:${configurations.mockitoAgent.asPath}"
 }
 
 // Simulation configuration (e.g. environment variables).

diff --git a/CompBot/simgui-ds.json b/CompBot/simgui-ds.json
@@ -1,31 +1,52 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
         {
-          "decKey": 87,
-          "incKey": 83
+          "decKey": 83,
+          "incKey": 87
         },
         {
-          "decKey": 65,
-          "incKey": 68
-        },
-        {
-          "decayRate": 0.0,
-          "keyRate": 0.009999999776482582
+          "decKey": 68,
+          "incKey": 65
         },
         {
           "decKey": 93,
           "incKey": 91
+        },
+        {
+          "decayRate": 0.8999999761581421,
+          "keyRate": 0.10000000149011612
         }
       ],
       "axisCount": 4,
-      "buttonCount": 4,
+      "buttonCount": 15,
       "buttonKeys": [
+        49,
+        50,
+        51,
+        52,
+        53,
+        54,
+        55,
+        56,
+        57,
+        48,
         90,
         88,
         67,
-        86
+        86,
+        66
       ],
       "povConfig": [
         {
@@ -39,7 +60,7 @@
           "key90": 326
         }
       ],
-      "povCount": 1
+      "povCount": 0
     },
     {
       "axisConfig": [
@@ -94,6 +115,9 @@
   "robotJoysticks": [
     {
       "guid": "Keyboard0"
+    },
+    {
+      "guid": "030000004c050000e60c000000000000"
     }
   ],
   "useEnableDisableHotkeys": true

diff --git a/CompBot/src/main/deploy/depot.autogen b/CompBot/src/main/deploy/depot.autogen
@@ -0,0 +1,8 @@
+Seed Left
+(Cross Left + Surf Left) * Intake
+
+Aim * (Return Left + (Depot ? Intake) + 5)
+((Return Left + Cross Left + Surf Left) * Intake ) 
+
+#Climb Ready + Tower
+#Climb
diff --git a/CompBot/src/main/deploy/depotNeutral.autogen b/CompBot/src/main/deploy/depotNeutral.autogen
@@ -0,0 +1,5 @@
+Seed Left
+Aim * (Depot * Intake )
+Aim & 5
+(Cross Left + Surf Left) * Intake
+Aim * (Return Left + 5)
diff --git a/CompBot/src/main/deploy/example.txt b/CompBot/src/main/deploy/example.txt
diff --git a/CompBot/src/main/deploy/feedLeft.autogen b/CompBot/src/main/deploy/feedLeft.autogen
@@ -0,0 +1,6 @@
+Seed Left
+(Cross Left + Surf Left) * Intake
+Shoot * 10
+Aim * (Return Left + 5 )
+#(Climb Ready + Tower)
+#Climb
diff --git a/CompBot/src/main/deploy/feedRight.autogen b/CompBot/src/main/deploy/feedRight.autogen
@@ -0,0 +1,6 @@
+Seed Right
+(Cross Right + Surf Right) * Intake
+Shoot * 10
+Aim * (Return Right + 5)
+#( Climb Ready + Tower)
+#Climb 
diff --git a/CompBot/src/main/deploy/hyperLeft.autogen b/CompBot/src/main/deploy/hyperLeft.autogen
@@ -0,0 +1,8 @@
+Seed Left
+(Cross Left + Surf Left) * Intake
+Aim * (Return Left + 5)
+(Cross Left Closer + Surf Left Close + Surf Left Second + Surf Up Left) * Intake
+Aim * (Return Left Angle + 5)
+
+#(Climb Ready + Tower)
+#Climb
diff --git a/CompBot/src/main/deploy/hyperRight.autogen b/CompBot/src/main/deploy/hyperRight.autogen
@@ -0,0 +1,7 @@
+Seed Right
+(Cross Right + Surf Right) * Intake
+Aim * (Return Right + 5)
+(Cross Right Closer + Surf Right Close + Surf Right Second + Surf Up Right) * Intake
+Aim * (Return Right Angle + 5)
+#(Climb Ready + Tower)
+#Climb
diff --git a/CompBot/src/main/deploy/left.autogen b/CompBot/src/main/deploy/left.autogen
@@ -0,0 +1,2 @@
+(Cross Left + Surf Left * Intake)
+Return Left & Aim
diff --git a/CompBot/src/main/deploy/outpost.autogen b/CompBot/src/main/deploy/outpost.autogen
@@ -0,0 +1,4 @@
+Seed Right 
+Outpost
+Aim * (5)  
+#(Climb Ready + Climb + Tower)
diff --git a/CompBot/src/main/deploy/pathplanner/autos/Double Left (T 0.5).auto b/CompBot/src/main/deploy/pathplanner/autos/Double Left (T 0.5).auto
@@ -0,0 +1,50 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aim"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Cleanup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Aim"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/CompBot/src/main/deploy/pathplanner/autos/Double Right (T 0.5).auto b/CompBot/src/main/deploy/pathplanner/autos/Double Right (T 0.5).auto
@@ -0,0 +1,50 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aim"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Cleanup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Aim"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/CompBot/src/main/deploy/pathplanner/autos/Far Double Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Far Double Left.auto
@@ -0,0 +1,50 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Far Left"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aim"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 6.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Cleanup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Aim"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		(Cross Left + Surf Left * Intake)
		Return Left & Aim