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5152Alotobots · Dec 22, 2024 · 325d47e · 325d47e
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diff --git a/LICENSE.md b/LICENSE.md
@@ -1,7 +1,7 @@
 GNU Lesser General Public License
 =================================
 
-_Version 3, 29 June 2007_  
+_Version 3, 29 June 2007_
 _Copyright © 2007 Free Software Foundation, Inc. &lt;<http://fsf.org/>&gt;_
 
 Everyone is permitted to copy and distribute verbatim copies
@@ -160,4 +160,4 @@ If the Library as you received it specifies that a proxy can decide
 whether future versions of the GNU Lesser General Public License shall
 apply, that proxy's public statement of acceptance of any version is
 permanent authorization for you to choose that version for the
-Library.
+Library.
diff --git a/docs/mkdocs/docs/index.md b/docs/mkdocs/docs/index.md
@@ -1,3 +1,7 @@
 # Team 5152 Robot Code Documentation
 
-Welcome to the comprehensive documentation for Team 5152's robot code. This documentation provides an in-depth look at our robot's sophisticated control and automation systems.
+Welcome to the comprehensive documentation for Team 5152's robot code.
+
+If you are starting the new season from scratch, checkout the [quickstart guide](/5152_Template/quickstart)
+
+Javadocs can be found [here](/5152_Template/javadoc)
diff --git a/docs/mkdocs/docs/library/commands/vision/objectdetection/drivefacingbestobject.md b/docs/mkdocs/docs/library/commands/vision/objectdetection/drivefacingbestobject.md
@@ -28,4 +28,4 @@ Parameters:
 - Includes brief manual rotation override capability with 0.1s timeout
 - Integrates with both [DriveFacingPose](/5152_Template/library/commands/swerve/drivefacingpose) and [DefaultDrive](/5152_Template/library/commands/swerve/defaultdrive) commands
 
-For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).
+For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).
diff --git a/docs/mkdocs/docs/library/commands/vision/objectdetection/pathfindtobestobject.md b/docs/mkdocs/docs/library/commands/vision/objectdetection/pathfindtobestobject.md
@@ -41,4 +41,4 @@ The command requires proper configuration of:
 - Generates and executes path to approach position
 - Command times out after 0.1 seconds but generated path continues executing
 
-For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).
+For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).
diff --git a/docs/mkdocs/docs/library/subsystems/vision/apriltag.md b/docs/mkdocs/docs/library/subsystems/vision/apriltag.md
@@ -52,4 +52,4 @@ The subsystem includes several safeguards for reliable operation:
 
 ## Related Links
 - [JavaDoc Reference](/5152_Template/javadoc/frc/alotobots/library/subsystems/vision/photonvision/apriltag/package-summary.html)
-- [PhotonVision Documentation](https://docs.photonvision.org/en/latest/)
+- [PhotonVision Documentation](https://docs.photonvision.org/en/latest/)
diff --git a/docs/mkdocs/docs/library/subsystems/vision/objectdetection.md b/docs/mkdocs/docs/library/subsystems/vision/objectdetection.md
@@ -44,4 +44,4 @@ The subsystem requires several constants to be configured in the ObjectDetection
 - At least one compatible camera connected and configured
 - WPILib 2024 or newer
 
-For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/package-summary.html).
+For detailed method documentation, refer to the [JavaDoc reference](PROJECT_ROOT/javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/package-summary.html).
diff --git a/docs/mkdocs/docs/quickstart.md b/docs/mkdocs/docs/quickstart.md
@@ -47,9 +47,9 @@ When starting a new season:
    // In Constants.java
    public static final TunerConstants tunerConstants = new TunerConstants2024();
    // or if using different configurations for simulation:
-   public static final TunerConstants tunerConstants = 
-       Constants.currentMode == Mode.SIM ? 
-           new TunerConstantsSim() : 
+   public static final TunerConstants tunerConstants =
+       Constants.currentMode == Mode.SIM ?
+           new TunerConstantsSim() :
            new TunerConstants2024();
    ```
    This static field is used throughout the codebase to access swerve configurations.
@@ -104,7 +104,7 @@ The swerve drive configuration is generated using Phoenix Tuner X's Swerve Gener
       ```java
       // Replace generated values like:
       public static final int kFrontLeftDriveMotorId = 1;
-      
+
       // With references to Constants:
       public static final int kFrontLeftDriveMotorId = Constants.CanId.FRONT_LEFT_DRIVE_MTR_CAN_ID;
       ```
@@ -129,7 +129,7 @@ After configuring modules and before PID tuning, verify basic functionality:
           .withKV(1.59)
           .withKA(0)
           .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
- 
+
       // Default drive gains
       private static final Slot0Configs driveGains = new Slot0Configs()
           .withKP(0.1)
@@ -672,7 +672,7 @@ Accurate camera position measurements are critical for AprilTag vision:
         new Transform3d(
             new Translation3d(0.245, 0.21, 0.17),  // X, Y, Z in meters
             new Rotation3d(0, Math.toRadians(-35), Math.toRadians(45))),  // Roll, Pitch, Yaw
-        
+
         // Front Middle Camera
         new Transform3d(
             new Translation3d(0.275, 0.0, 0.189),
@@ -948,5 +948,3 @@ After configuring cameras and game elements:
     - Position jumps: Try decreasing POSITION_MATCH_TOLERANCE
 
 Congratulations! Your project should now be fully configured and tuned for optimal performance.
-
-
diff --git a/src/main/java/frc/alotobots/library/subsystems/swervedrive/Module.java b/src/main/java/frc/alotobots/library/subsystems/swervedrive/Module.java
@@ -86,11 +86,13 @@ public void runCharacterization(double output) {
     io.setDriveOpenLoop(output);
     io.setTurnPosition(new Rotation2d());
   }
-// Replace this to estimate MOI via SysID
-//  public void runCharacterization(double output) {
-//    io.setDriveOpenLoop(output);
-//    io.setTurnPosition(new Rotation2d(constants.LocationX, constants.LocationY).plus(Rotation2d.kCCW_Pi_2));
-//}
+
+  // Replace this to estimate MOI via SysID
+  //  public void runCharacterization(double output) {
+  //    io.setDriveOpenLoop(output);
+  //    io.setTurnPosition(new Rotation2d(constants.LocationX,
+  // constants.LocationY).plus(Rotation2d.kCCW_Pi_2));
+  // }
 
   /** Disables all outputs to motors. */
   public void stop() {

diff --git a/...java/frc/alotobots/library/subsystems/vision/photonvision/apriltag/AprilTagSubsystem.java b/...java/frc/alotobots/library/subsystems/vision/photonvision/apriltag/AprilTagSubsystem.java
@@ -31,9 +31,9 @@
 import org.littletonrobotics.junction.Logger;
 
 /**
- * A subsystem that handles AprilTag detection and processing using PhotonVision.
- * This subsystem processes AprilTag data from multiple cameras and provides pose estimation
- * with statistical confidence measures.
+ * A subsystem that handles AprilTag detection and processing using PhotonVision. This subsystem
+ * processes AprilTag data from multiple cameras and provides pose estimation with statistical
+ * confidence measures.
  */
 public class AprilTagSubsystem extends SubsystemBase {
   /** Consumer interface for receiving AprilTag pose data with statistical confidence */
@@ -69,16 +69,16 @@ public AprilTagSubsystem(AprilTagConsumer consumer, AprilTagIO... io) {
     this.disconnectedAlerts = new Alert[io.length];
     for (int i = 0; i < inputs.length; i++) {
       disconnectedAlerts[i] =
-              new Alert(
-                      "Vision camera " + CAMERA_CONFIGS[i].name() + " is disconnected.",
-                      AlertType.kWarning);
+          new Alert(
+              "Vision camera " + CAMERA_CONFIGS[i].name() + " is disconnected.",
+              AlertType.kWarning);
     }
 
     // Ensure no illegal values for STD factors
     for (double factor : CAMERA_STD_DEV_FACTORS) {
       if (factor < 1.0)
         throw new IllegalArgumentException(
-                "[AprilTagSubsystem] Value must be greater than or equal to 1, but was: " + factor);
+            "[AprilTagSubsystem] Value must be greater than or equal to 1, but was: " + factor);
     }
   }
 
@@ -93,13 +93,9 @@ public Rotation2d getTargetX(int cameraIndex) {
   }
 
   /**
-   * Periodic function that processes AprilTag data from all cameras.
-   * This method:
-   * - Updates camera inputs
-   * - Processes pose observations
-   * - Applies statistical confidence calculations
-   * - Logs vision data
-   * - Sends accepted pose estimates to the consumer
+   * Periodic function that processes AprilTag data from all cameras. This method: - Updates camera
+   * inputs - Processes pose observations - Applies statistical confidence calculations - Logs
+   * vision data - Sends accepted pose estimates to the consumer
    */
   @Override
   public void periodic() {
@@ -137,17 +133,17 @@ public void periodic() {
       for (var observation : inputs[cameraIndex].poseObservations) {
         // Check whether to reject pose
         boolean rejectPose =
-                observation.tagCount() == 0 // Must have at least one tag
-                        || (observation.tagCount() == 1
-                        && observation.ambiguity() > MAX_AMBIGUITY) // Cannot be high ambiguity
-                        || Math.abs(observation.pose().getZ())
-                        > MAX_Z_ERROR // Must have realistic Z coordinate
-
-                        // Must be within the field boundaries
-                        || observation.pose().getX() < 0.0
-                        || observation.pose().getX() > APRIL_TAG_LAYOUT.getFieldLength()
-                        || observation.pose().getY() < 0.0
-                        || observation.pose().getY() > APRIL_TAG_LAYOUT.getFieldWidth();
+            observation.tagCount() == 0 // Must have at least one tag
+                || (observation.tagCount() == 1
+                    && observation.ambiguity() > MAX_AMBIGUITY) // Cannot be high ambiguity
+                || Math.abs(observation.pose().getZ())
+                    > MAX_Z_ERROR // Must have realistic Z coordinate
+
+                // Must be within the field boundaries
+                || observation.pose().getX() < 0.0
+                || observation.pose().getX() > APRIL_TAG_LAYOUT.getFieldLength()
+                || observation.pose().getY() < 0.0
+                || observation.pose().getY() > APRIL_TAG_LAYOUT.getFieldWidth();
 
         // Add pose to log
         robotPoses.add(observation.pose());
@@ -164,7 +160,7 @@ public void periodic() {
 
         // Calculate standard deviations
         double stdDevFactor =
-                Math.pow(observation.averageTagDistance(), 2.0) / observation.tagCount();
+            Math.pow(observation.averageTagDistance(), 2.0) / observation.tagCount();
         double linearStdDev = LINEAR_STD_DEV_BASE * stdDevFactor;
         double angularStdDev = ANGULAR_STD_DEV_BASE * stdDevFactor;
 
@@ -175,24 +171,24 @@ public void periodic() {
 
         // Send vision observation
         consumer.accept(
-                observation.pose().toPose2d(),
-                observation.timestamp(),
-                VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev));
+            observation.pose().toPose2d(),
+            observation.timestamp(),
+            VecBuilder.fill(linearStdDev, linearStdDev, angularStdDev));
       }
 
       // Log camera data
       Logger.recordOutput(
-              "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/TagPoses",
-              tagPoses.toArray(new Pose3d[tagPoses.size()]));
+          "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/TagPoses",
+          tagPoses.toArray(new Pose3d[tagPoses.size()]));
       Logger.recordOutput(
-              "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPoses",
-              robotPoses.toArray(new Pose3d[robotPoses.size()]));
+          "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPoses",
+          robotPoses.toArray(new Pose3d[robotPoses.size()]));
       Logger.recordOutput(
-              "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPosesAccepted",
-              robotPosesAccepted.toArray(new Pose3d[robotPosesAccepted.size()]));
+          "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPosesAccepted",
+          robotPosesAccepted.toArray(new Pose3d[robotPosesAccepted.size()]));
       Logger.recordOutput(
-              "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPosesRejected",
-              robotPosesRejected.toArray(new Pose3d[robotPosesRejected.size()]));
+          "Vision/Camera" + CAMERA_CONFIGS[cameraIndex].name() + "/RobotPosesRejected",
+          robotPosesRejected.toArray(new Pose3d[robotPosesRejected.size()]));
       allTagPoses.addAll(tagPoses);
       allRobotPoses.addAll(robotPoses);
       allRobotPosesAccepted.addAll(robotPosesAccepted);
@@ -201,20 +197,18 @@ public void periodic() {
 
     // Log summary data
     Logger.recordOutput(
-            "Vision/Summary/TagPoses", allTagPoses.toArray(new Pose3d[allTagPoses.size()]));
+        "Vision/Summary/TagPoses", allTagPoses.toArray(new Pose3d[allTagPoses.size()]));
     Logger.recordOutput(
-            "Vision/Summary/RobotPoses", allRobotPoses.toArray(new Pose3d[allRobotPoses.size()]));
+        "Vision/Summary/RobotPoses", allRobotPoses.toArray(new Pose3d[allRobotPoses.size()]));
     Logger.recordOutput(
-            "Vision/Summary/RobotPosesAccepted",
-            allRobotPosesAccepted.toArray(new Pose3d[allRobotPosesAccepted.size()]));
+        "Vision/Summary/RobotPosesAccepted",
+        allRobotPosesAccepted.toArray(new Pose3d[allRobotPosesAccepted.size()]));
     Logger.recordOutput(
-            "Vision/Summary/RobotPosesRejected",
-            allRobotPosesRejected.toArray(new Pose3d[allRobotPosesRejected.size()]));
+        "Vision/Summary/RobotPosesRejected",
+        allRobotPosesRejected.toArray(new Pose3d[allRobotPosesRejected.size()]));
   }
 
-  /**
-   * Functional interface for consuming AprilTag pose data with statistical confidence measures.
-   */
+  /** Functional interface for consuming AprilTag pose data with statistical confidence measures. */
   @FunctionalInterface
   public static interface AprilTagConsumer {
     /**
@@ -225,8 +219,8 @@ public static interface AprilTagConsumer {
      * @param visionMeasurementStdDevs Standard deviations for the measurement [x, y, theta]
      */
     public void accept(
-            Pose2d visionRobotPoseMeters,
-            double timestampSeconds,
-            Matrix<N3, N1> visionMeasurementStdDevs);
+        Pose2d visionRobotPoseMeters,
+        double timestampSeconds,
+        Matrix<N3, N1> visionMeasurementStdDevs);
   }
-}
+}
diff --git a/...ibrary/subsystems/vision/photonvision/objectdetection/commands/DriveFacingBestObject.java b/...ibrary/subsystems/vision/photonvision/objectdetection/commands/DriveFacingBestObject.java
@@ -26,9 +26,10 @@
 import frc.alotobots.library.subsystems.vision.photonvision.objectdetection.util.GameElement;
 
 /**
- * A command that automatically rotates the robot to face detected game objects while allowing manual translation control.
- * The robot will face the highest priority detected game element while driving. If no objects are detected,
- * or if manual rotation override is active, falls back to standard manual control.
+ * A command that automatically rotates the robot to face detected game objects while allowing
+ * manual translation control. The robot will face the highest priority detected game element while
+ * driving. If no objects are detected, or if manual rotation override is active, falls back to
+ * standard manual control.
  */
 public class DriveFacingBestObject extends Command {
 
@@ -58,9 +59,9 @@ public class DriveFacingBestObject extends Command {
    * @param targetGameElementNames Array of game elements to target, in priority order
    */
   public DriveFacingBestObject(
-          ObjectDetectionSubsystem objectDetectionSubsystem,
-          SwerveDriveSubsystem swerveDriveSubsystem,
-          GameElement... targetGameElementNames) {
+      ObjectDetectionSubsystem objectDetectionSubsystem,
+      SwerveDriveSubsystem swerveDriveSubsystem,
+      GameElement... targetGameElementNames) {
     this.objectDetectionSubsystem = objectDetectionSubsystem;
     this.swerveDriveSubsystem = swerveDriveSubsystem;
     this.targetGameElementNames = targetGameElementNames;
@@ -71,10 +72,10 @@ public DriveFacingBestObject(
   }
 
   /**
-   * Executes the command logic. Gets the latest object detections and controls robot movement:
-   * - If objects are detected, rotates to face highest priority object while allowing manual translation
-   * - If no objects detected, allows full manual control
-   * - If manual rotation override active, starts timeout timer
+   * Executes the command logic. Gets the latest object detections and controls robot movement: - If
+   * objects are detected, rotates to face highest priority object while allowing manual translation
+   * - If no objects detected, allows full manual control - If manual rotation override active,
+   * starts timeout timer
    */
   @Override
   public void execute() {
@@ -84,9 +85,9 @@ public void execute() {
     var matchingObject = java.util.Optional.<ObjectDetectionIO.DetectedObjectFieldRelative>empty();
     for (GameElement element : targetGameElementNames) {
       matchingObject =
-              detectedObjects.stream()
-                      .filter(obj -> GAME_ELEMENTS[obj.classId()].equals(element))
-                      .findFirst();
+          detectedObjects.stream()
+              .filter(obj -> GAME_ELEMENTS[obj.classId()].equals(element))
+              .findFirst();
       if (matchingObject.isPresent()) {
         break;
       }
@@ -119,4 +120,4 @@ public void execute() {
   public boolean isFinished() {
     return overrideTimer.hasElapsed(OVERRIDE_TIMEOUT_SECONDS);
   }
-}
+}