Akit docs #34
Akit docs #34
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…werveDriveSubsystem
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Caution Review failedThe pull request is closed. 📝 Walkthrough📝 WalkthroughWalkthroughThis pull request introduces a comprehensive restructuring of the FRC Team 5152 robot code repository. The changes span multiple aspects of the project, including subsystem management, documentation, build configuration, and input handling. The primary focus appears to be on modernizing the codebase, simplifying subsystem interactions, and improving overall code organization. Key modifications include removing legacy subsystems, updating build and documentation workflows, and introducing new input handling mechanisms. Changes
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Actionable comments posted: 15
🔭 Outside diff range comments (2)
docs/mkdocs/docs/library/subsystems/vision/apriltag.md (2)
Line range hint
846-853: Add validation checks to camera offset configuration.The camera offset configuration should include bounds checking and validation.
private static final Transform3d[] CAMERA_OFFSETS = new Transform3d[] { // Front Middle new Transform3d( + validateTranslation( new Translation3d(0.275, 0.0, 0.23), + ), + validateRotation( new Rotation3d(0, Math.toRadians(0), Math.toRadians(0))) + ) }; +private static Translation3d validateTranslation(Translation3d t) { + if (Math.abs(t.getX()) > 1.0 || Math.abs(t.getY()) > 1.0 || Math.abs(t.getZ()) > 1.0) { + throw new IllegalArgumentException("Camera offset exceeds reasonable bounds"); + } + return t; +} +private static Rotation3d validateRotation(Rotation3d r) { + if (Math.abs(r.getAngle()) > Math.PI) { + throw new IllegalArgumentException("Camera rotation exceeds π radians"); + } + return r; +}🧰 Tools
🪛 LanguageTool
[uncategorized] ~16-~16: Loose punctuation mark.
Context: ...ameters: 1.AprilTagConsumer consumer: A functional interface that receives pr...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~21-~21: Loose punctuation mark.
Context: ...ndard deviations) 2.AprilTagIO... io: Variable number of AprilTagIO interface...(UNLIKELY_OPENING_PUNCTUATION)
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858-864: Add null checks and validation to camera configuration.The camera configuration should include proper null checks and validation.
public static final CameraConfig[] CAMERA_CONFIGS = { + Objects.requireNonNull( new CameraConfig( - "FM_ObjectDetection", + validateCameraName("FM_ObjectDetection"), CAMERA_OFFSETS[0], new SimCameraProperties()) + ) }; +private static String validateCameraName(String name) { + if (name == null || name.trim().isEmpty()) { + throw new IllegalArgumentException("Camera name cannot be null or empty"); + } + if (!name.matches("[A-Z]{2}_ObjectDetection")) { + throw new IllegalArgumentException("Camera name must follow format: XX_ObjectDetection"); + } + return name; +}🧰 Tools
🪛 LanguageTool
[uncategorized] ~16-~16: Loose punctuation mark.
Context: ...ameters: 1.AprilTagConsumer consumer: A functional interface that receives pr...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~21-~21: Loose punctuation mark.
Context: ...ndard deviations) 2.AprilTagIO... io: Variable number of AprilTagIO interface...(UNLIKELY_OPENING_PUNCTUATION)
🧹 Nitpick comments (28)
docs/mkdocs/mkdocs.yml (2)
34-39: Consider additional useful markdown extensionsThe current extensions are well-chosen for technical documentation. Consider adding these additional extensions to enhance the documentation further:
pymdownx.arithmatex: For mathematical equations (useful for robotics calculations)pymdownx.tasklist: For checkboxes in configuration stepstoc: For table of contents with customizable depthmarkdown_extensions: - tables - admonition - pymdownx.details - pymdownx.superfences - attr_list + - pymdownx.arithmatex + - pymdownx.tasklist + - toc: + permalink: true
41-42: Add newline at end of fileAdd a newline character at the end of the file to comply with POSIX standards and fix the yamllint warning.
plugins: - search +🧰 Tools
🪛 yamllint (1.35.1)
[error] 42-42: no new line character at the end of file
(new-line-at-end-of-file)
docs/mkdocs/docs/library/commands/swerve/drivefacingangle.md (4)
14-17: Enhance configuration requirements with specific detailsThe configuration requirements section could be more helpful by including:
- Example values or recommended ranges for PID parameters
- Units for angular velocity and acceleration (e.g., rad/s, rad/s²)
- A link to the TunerConstants documentation
Consider expanding the section like this:
The following must be configured in TunerConstants: -PID values for angle control -Maximum angular velocity and acceleration constraints -Profile constraints for smooth angle transitions +PID values for angle control: + - Recommended ranges: kP (0.1-1.0), kI (0-0.1), kD (0-0.1) +Maximum constraints: + - Angular velocity: 0-π rad/s + - Angular acceleration: 0-2π rad/s² +Profile constraints for smooth angle transitions + +See [TunerConstants](/path/to/tunerconstants) for more details.
10-11: Clarify parameter types and unitsThe constructor parameters section should specify:
- The exact type of the targetRotation supplier
- The expected angle units and valid ranges
Consider updating the parameters section like this:
-`swerveDriveSubsystem`: The SwerveDrive subsystem instance this command will control -`targetRotation`: A supplier that provides the target rotation angle +`swerveDriveSubsystem`: The SwerveDrive subsystem instance this command will control +`targetRotation`: A DoubleSupplier that provides the target rotation angle in radians (-π to π)
3-4: Add usage example and coordinate system detailsThe overview would be more helpful with:
- A simple example use case (e.g., maintaining field-relative orientation while driving)
- Clarification about the coordinate system conventions used
Consider expanding the overview like this:
## Overview The DriveFacingAngle command implements sophisticated angle-controlled driving capabilities, allowing the robot to maintain a specific heading while moving. This command utilizes a ProfiledPIDController for precise angle management. + +For example, you can use this command to keep the robot facing a specific field element while driving in any direction. The command uses a counter-clockwise positive coordinate system, where 0 radians points along the positive X-axis.
1-20: Consider adding more comprehensive documentation sectionsThe documentation would benefit from additional sections:
- Code examples showing common usage patterns
- Common pitfalls or gotchas to watch out for
- Related commands (e.g., other swerve drive commands)
Consider adding these sections at the end of the file:
## API Reference For detailed API documentation, see the [DriveFacingAngle Javadoc](/5152_Template/javadoc/frc/alotobots/library/commands/swervedrive/DriveFacingAngle.html) + +## Usage Examples +```java +// Example 1: Face forward while driving +new DriveFacingAngle( + swerveDrive, + () -> 0.0 // Always face forward (0 radians) +); + +// Example 2: Face game piece while driving +new DriveFacingAngle( + swerveDrive, + () -> vision.getGamePieceAngle() +); +``` + +## Common Pitfalls +- Ensure angle wrapping is handled correctly when crossing the ±π boundary +- Be mindful of acceleration limits when making large angle changes + +## Related Commands +- [DefaultDrive](/5152_Template/library/commands/swerve/defaultdrive) +- [DriveFacingPose](/5152_Template/library/commands/swerve/drivefacingpose)src/main/java/frc/alotobots/Constants.java (2)
26-27: Clarify naming or usage strategy for simMode and currentMode.
Both of these variables tie to the new enum, but “simMode” is set to REPLAY by default, which might be confusing. Consider updating the name “simMode” to reflect its broader usage (e.g., "defaultMode") or adding comments clarifying that it’s the fallback mode.
29-38: Add Javadoc or more descriptive usage hints for Mode enum.
While the comments are present for each enum constant, an overall Javadoc block clarifying typical usage scenarios for each mode would aid readability and maintainability.src/main/java/frc/alotobots/Robot.java (3)
54-74: Validate logging configuration for each mode.
You have distinct data receivers or replay setups for each mode. Confirm this logic remains consistent with your operators’ expectations (e.g., minimal logging overhead in SIM, correct file writing on REAL, etc.).
76-77: Great usage of Logger.start()
This is a straightforward call, but remember to stop or flush logs appropriately on shutdown or transitions to avoid partial logs.
155-157: Leverage simulationPeriodic more extensively.
SimulationPeriodic is empty. You could replicate or inject sensor feedback logic here if needed, especially with physics-based simulation model expansions.src/main/java/frc/alotobots/RobotContainer.java (1)
79-98: No-op usage in SIM.
Sim references are properly set for no real hardware calls. If you expand your simulator or need partial simulation for vision, keep the placeholders well-advertised or documented.build.gradle (2)
179-217: Assess the eventDeploy task scope
Auto-committing changes on “event” branches can be useful but might also lead to unintended commits. Be sure to test your branching workflow thoroughly.
223-275: Spotless usage
Applying Spotless automatically before compilation ensures consistent formatting. Keep an eye on performance if your codebase grows significantly..github/workflows/docs.yml (2)
31-31: Consider separating build and documentation tasksWhile running
buildbefore generating documentation ensures all dependencies are compiled, it might be more efficient to run only the necessary compilation tasks for documentation generation.- ./gradlew build + ./gradlew classes
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1-47: Add caching to improve workflow performanceThe workflow could benefit from caching Gradle dependencies and Python packages to reduce build times and network usage.
Add these steps after the setup steps:
- uses: actions/cache@v3 with: path: | ~/.gradle/caches ~/.gradle/wrapper key: ${{ runner.os }}-gradle-${{ hashFiles('**/*.gradle*', '**/gradle-wrapper.properties') }} restore-keys: | ${{ runner.os }}-gradle- - uses: actions/cache@v3 with: path: ~/.local/pip key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} restore-keys: | ${{ runner.os }}-pip-docs/mkdocs/docs/library/commands/swerve/characterization.md (1)
36-39: Add specific requirements and safety warningsThe configuration requirements section could be more specific:
- Define the minimum clear operating space dimensions needed
- Specify what constitutes a "level surface" (maximum allowable slope)
- Add safety warnings about robot movement during characterization
src/main/java/frc/alotobots/OI.java (2)
23-33: Add input validation and document coordinate systemThe translation and rotation methods should:
- Document the coordinate system conventions (which direction is positive/negative)
- Apply deadband filtering
- Validate input ranges
public static double getTranslateForwardAxis() { - return driverController.getLeftY(); + double value = driverController.getLeftY(); + return Math.abs(value) < DEADBAND ? 0.0 : value; }
44-47: Document button mappings and their purposesAdd Javadoc comments explaining:
- What each button does
- The expected behavior when pressed
- Any preconditions or requirements
docs/mkdocs/docs/library/commands/vision/objectdetection/drivefacingbestobject.md (1)
23-29: Enhance behavior details with code examplesConsider adding code examples to demonstrate the usage of this command, particularly:
- How to initialize the command with different game elements
- How to integrate it with existing commands
docs/mkdocs/docs/library/commands/vision/objectdetection/pathfindtobestobject.md (2)
37-41: Fix list indentationThe list items under "Calculates optimal approach position based on:" are indented with 4 spaces. According to markdown standards, they should be indented with 2 spaces.
- Calculates optimal approach position based on: - - Robot bumper dimensions - - Approach angle to target - - Game element position and orientation + Calculates optimal approach position based on: + - Robot bumper dimensions + - Approach angle to target + - Game element position and orientation🧰 Tools
🪛 Markdownlint (0.37.0)
38-38: Expected: 2; Actual: 4
Unordered list indentation(MD007, ul-indent)
39-39: Expected: 2; Actual: 4
Unordered list indentation(MD007, ul-indent)
40-40: Expected: 2; Actual: 4
Unordered list indentation(MD007, ul-indent)
25-32: Enhance configuration requirements with specific constant namesThe configuration section mentions
Constants.tunerConstantsbut could be more specific about which constants need to be set. Consider adding the actual constant names and their expected values.docs/mkdocs/docs/library/subsystems/swerve.md (2)
21-31: Enhance configuration section with code examplesThe TunerConstants section lists various configuration options but doesn't show how to set them. Consider adding code examples showing the proper way to configure these values.
34-39: Consider adding links to related documentationThe additional notes section mentions several important features (vision integration, PathPlanner, system identification) but doesn't link to their respective documentation. Consider adding links to these related topics.
docs/mkdocs/docs/library/subsystems/vision/objectdetection.md (2)
7-9: Add language specification to code block and enhance constructor documentation.The code block should specify the language and include more details about parameter types.
-``` +```java public ObjectDetectionSubsystem(Supplier<Pose2d> robotPose, ObjectDetectionIO... io)+Additional details to add:
+-robotPose: Returns the current robot pose as aPose2dobject
+-io: Array ofObjectDetectionIOinterfaces for camera input/output operations--- `21-30`: **Add error handling examples to configuration requirements.** The configuration section should include examples of error handling for common failure scenarios. Consider adding: - Exception handling for camera initialization failures - Recovery procedures for camera disconnections - Validation of configuration parameters - Logging recommendations for debugging </blockquote></details> <details> <summary>docs/mkdocs/docs/quickstart.md (2)</summary><blockquote> `394-402`: **Add language specification and enhance MOI calculation example.** The code block for MOI calculation should specify the language and include validation. ```diff -``` +```java MOI = mass * (trackwidth/2) * (kA_angular/kA_linear) + +// Example validation: +if (mass <= 0 || trackwidth <= 0 || kA_angular <= 0 || kA_linear <= 0) { + throw new IllegalArgumentException("Invalid parameters for MOI calculation"); +} +if (MOI <= 0) { + throw new IllegalStateException("Calculated MOI is invalid"); +}🧰 Tools
🪛 Markdownlint (0.37.0)
394-394: null
Fenced code blocks should have a language specified(MD040, fenced-code-language)
912-929: Enhance camera verification section with automated testing.The camera verification section should include automated testing procedures.
Consider adding:
- Automated camera connection testing
- Performance benchmarking scripts
- Latency measurement tools
- Network bandwidth monitoring
- System resource utilization checks
🛑 Comments failed to post (15)
.gitignore (1)
190-190: 💡 Codebase verification
Remove the temporary directory entry from .gitignore
The "2025CTREexample" entry appears to be a local temporary directory that:
- Is not referenced anywhere in the codebase
- Has no related CTRE files or example directories in the project
- Is placed under a "# Temp" comment section
Since this is clearly a local development artifact and not a common pattern in the project, it should not be committed to the shared .gitignore file. Consider adding it to your personal
.git/info/excludefile instead.🔗 Analysis chain
Verify if the example directory should be permanently ignored.
The "2025CTREexample" entry appears to be a temporary directory. Consider if this should be a permanent ignore rule or if it's specific to your local development environment.
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Check if this directory is referenced or used in the project rg -l "2025CTREexample"Length of output: 23
Script:
#!/bin/bash # Let's check the context around this entry in .gitignore rg -B 5 -A 5 "2025CTREexample" .gitignore # Also check if there are any CTRE-related files or directories fd -I "ctre|CTRE" # Check if there are any example directories fd -t d -I "example"Length of output: 164
docs/mkdocs/mkdocs.yml (1)
14-22: 💡 Codebase verification
Missing documentation files referenced in navigation
The verification revealed that all referenced markdown files are missing from the repository:
docs/library/commands/swerve/defaultdrive.mddocs/library/commands/swerve/drivefacingangle.mddocs/library/commands/swerve/drivefacingpose.mddocs/library/commands/swerve/characterization.mddocs/library/commands/vision/objectdetection/drivefacingbestobject.mddocs/library/commands/vision/objectdetection/pathfindtobestobject.mddocs/library/subsystems/vision/objectdetection.mdPlease ensure these documentation files are created and added to the repository to prevent broken links in the navigation.
🔗 Analysis chain
Verify all referenced documentation files exist
The navigation structure references multiple markdown files. Let's ensure they all exist to prevent broken links.
Also applies to: 26-26
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Check if all referenced markdown files exist files=( "docs/library/commands/swerve/defaultdrive.md" "docs/library/commands/swerve/drivefacingangle.md" "docs/library/commands/swerve/drivefacingpose.md" "docs/library/commands/swerve/characterization.md" "docs/library/commands/vision/objectdetection/drivefacingbestobject.md" "docs/library/commands/vision/objectdetection/pathfindtobestobject.md" "docs/library/subsystems/vision/objectdetection.md" ) for file in "${files[@]}"; do if [ ! -f "$file" ]; then echo "Missing: $file" fi doneLength of output: 2047
docs/mkdocs/docs/library/commands/swerve/drivefacingangle.md (1)
7-7: 💡 Codebase verification
Broken documentation link needs to be updated
The link to the SwerveDriveSubsystem documentation should be updated to point to the correct location:
- Change
/5152_Template/library/subsystems/swerve/to/library/subsystems/swerveas the documentation exists atdocs/mkdocs/docs/library/subsystems/swerve.md🔗 Analysis chain
Verify documentation links
Let's ensure the referenced documentation pages and Javadoc exist at the specified locations.
Also applies to: 20-20
Let me verify the correct documentation structure first.
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the existence of referenced documentation files and Javadoc # Check if the swerve subsystem documentation exists echo "Checking swerve subsystem documentation..." fd -t f -e md -e html "index.md|README.md" docs/mkdocs/docs/library/subsystems/swerve/ # Check if the Javadoc exists echo "Checking Javadoc..." fd -t f "DriveFacingAngle.html" docs/Length of output: 401
Script:
#!/bin/bash # Check the actual documentation structure echo "Checking documentation structure..." fd -t d "subsystems|commands" docs/mkdocs/docs/library/ # List all markdown files in the library section echo -e "\nListing all markdown files in library..." fd -t f -e md . docs/mkdocs/docs/library/Length of output: 916
.vscode/settings.json (1)
29-29:
⚠️ Potential issueRemove the null entry from test configuration array
The
nullentry in the test configuration array is suspicious and could potentially cause issues with test execution. If this is intentional, please document the reason; otherwise, it should be removed.- null.run/ReplayWatch.run.xml (1)
4-8:
⚠️ Potential issueRemove hardcoded absolute path from run configuration
The environment variable
AKIT_LOG_PATHcontains a hardcoded absolute path that:
- References a specific user's media device
- Contains a specific date
- Won't work for other developers
Consider using a relative path or making this configurable per developer environment.
<option name="env"> <map> - <entry key="AKIT_LOG_PATH" value="/run/media/sernstes/E419-3D6A/logs/akit_24-12-13_15-13-21.wpilog" /> + <entry key="AKIT_LOG_PATH" value="${project.basedir}/logs/latest.wpilog" /> </map> </option>📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.<option name="env"> <map> <entry key="AKIT_LOG_PATH" value="${project.basedir}/logs/latest.wpilog" /> </map> </option>docs/mkdocs/docs/library/commands/swerve/characterization.md (2)
7-7:
⚠️ Potential issueFix broken documentation link
The link to SwerveDriveSubsystem documentation appears to use an old path format
/5152_Template/library/subsystems/swerve/. Update it to match the new documentation structure.
41-42:
⚠️ Potential issueFix broken Javadoc link
The API reference link uses an old path format
/5152_Template/javadoc/. Update it to match the new documentation structure.src/main/java/frc/alotobots/OI.java (1)
19-20: 🛠️ Refactor suggestion
Consider making OI instance-based instead of static
Static state can make testing difficult and limit flexibility. Consider:
- Making OI instance-based
- Injecting controller dependencies
- Adding constructor parameter for controller port instead of hardcoding
0public class OI { - public static final double DEADBAND = 0.1; - private static final CommandXboxController driverController = new CommandXboxController(0); + public static final double DEADBAND = 0.1; + private final CommandXboxController driverController; + + public OI(int controllerPort) { + this.driverController = new CommandXboxController(controllerPort); + }📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.public static final double DEADBAND = 0.1; private final CommandXboxController driverController; public OI(int controllerPort) { this.driverController = new CommandXboxController(controllerPort); }docs/mkdocs/docs/library/commands/vision/objectdetection/drivefacingbestobject.md (2)
6-7: 🛠️ Refactor suggestion
Update subsystem links to use relative paths
The subsystem links use absolute paths starting with
/5152_Template. Consider using relative paths for better maintainability.-- [Object Detection Subsystem](/5152_Template/library/subsystems/vision/objectdetection) -- [Swerve Drive Subsystem](/5152_Template/library/subsystems/swerve) ++ [Object Detection Subsystem](../../../../subsystems/vision/objectdetection) ++ [Swerve Drive Subsystem](../../../../subsystems/swerve)📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.- [Object Detection Subsystem](../../../../subsystems/vision/objectdetection) - [Swerve Drive Subsystem](../../../../subsystems/swerve)
31-31:
⚠️ Potential issueFix the JavaDoc reference link
The JavaDoc reference link uses
PROJECT_ROOTwhich appears to be a placeholder. Consider using a relative path instead.-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](../../../../../javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.For detailed method documentation, refer to the [JavaDoc reference](../../../../../javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).docs/mkdocs/docs/library/commands/vision/objectdetection/pathfindtobestobject.md (2)
44-44:
⚠️ Potential issueFix the JavaDoc reference link
The JavaDoc reference link uses
PROJECT_ROOTwhich appears to be a placeholder. Consider using a relative path instead.-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](../../../../../javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.For detailed method documentation, refer to the [JavaDoc reference](../../../../../javadoc/frc/alotobots/library/subsystems/vision/photonvision/objectdetection/commands/package-summary.html).
6-7: 🛠️ Refactor suggestion
Update subsystem links to use relative paths
The subsystem links use absolute paths starting with
/5152_Template. Consider using relative paths for better maintainability.-- [Object Detection Subsystem](/5152_Template/library/subsystems/vision/objectdetection) -- [Swerve Drive Subsystem](/5152_Template/library/subsystems/swerve) ++ [Object Detection Subsystem](../../../../subsystems/vision/objectdetection) ++ [Swerve Drive Subsystem](../../../../subsystems/swerve)📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.- [Object Detection Subsystem](../../../../subsystems/vision/objectdetection) - [Swerve Drive Subsystem](../../../../subsystems/swerve)docs/mkdocs/docs/library/subsystems/swerve.md (2)
32-32:
⚠️ Potential issueFix JavaDoc reference link
The JavaDoc reference link uses an absolute path. Consider using a relative path instead.
-See the [JavaDoc Reference](/5152_Template/javadoc/frc/alotobots/library/subsystems/swervedrive/package-summary.html) for detailed configuration options. +See the [JavaDoc Reference](../../../javadoc/frc/alotobots/library/subsystems/swervedrive/package-summary.html) for detailed configuration options.📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.See the [JavaDoc Reference](../../../javadoc/frc/alotobots/library/subsystems/swervedrive/package-summary.html) for detailed configuration options.
7-10: 🛠️ Refactor suggestion
Update command links to use relative paths
The command links use absolute paths starting with
/5152_Template. Consider using relative paths for better maintainability.-- [DefaultDrive Command](/5152_Template/library/commands/swerve/defaultdrive) -- [DriveFacingAngle Command](/5152_Template/library/commands/swerve/drivefacingangle) -- [DriveFacingPose Command](/5152_Template/library/commands/swerve/drivefacingpose) -- [Characterization Commands](/5152_Template/library/commands/swerve/characterization) ++ [DefaultDrive Command](../../commands/swerve/defaultdrive) ++ [DriveFacingAngle Command](../../commands/swerve/drivefacingangle) ++ [DriveFacingPose Command](../../commands/swerve/drivefacingpose) ++ [Characterization Commands](../../commands/swerve/characterization)📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.- [DefaultDrive Command](../../commands/swerve/defaultdrive): Provides standard teleoperated control - [DriveFacingAngle Command](../../commands/swerve/drivefacingangle): Maintains a specific robot heading while driving - [DriveFacingPose Command](../../commands/swerve/drivefacingpose): Orients the robot to face a target position while driving - [Characterization Commands](../../commands/swerve/characterization): Used for system identification and calibrationdocs/mkdocs/docs/quickstart.md (1)
571-650: 🛠️ Refactor suggestion
Add network security considerations to vision coprocessor setup.
The vision coprocessor setup section should include network security best practices.
Consider adding:
- Network isolation recommendations
- Firewall configuration
- Access control setup
- SSL/TLS configuration for PhotonVision
- Regular security updates procedure
Summary by CodeRabbit
Release Notes
New Features
OIclass for handling driver controller inputs.DriveFacingBestObjectcommand for improved gameplay interaction.PathfindToBestObjectcommand for autonomous navigation to detected game objects.Quickstartguide for configuring the swerve drive system.Bug Fixes
Robotclass for better operational insights.Documentation
README.mdwith project overview and development setup instructions.Chores