Finished Robot Code

annotation/build.gradle.kts

@@ -17,9 +17,9 @@ dependencies {
     implementation(wpi.java.vendor.java())
 
     // Annotation Processor Dependencies
-    implementation("com.squareup:kotlinpoet:1.14.2")
-    implementation("com.squareup:kotlinpoet-ksp:1.14.2")
-    implementation("com.google.devtools.ksp:symbol-processing-api:2.1.0-1.0.29")
+    implementation("com.squareup:kotlinpoet:2.2.0")
+    implementation("com.squareup:kotlinpoet-ksp:2.2.0")
+    implementation("com.google.devtools.ksp:symbol-processing-api:2.3.1")
 }
 
 // Helper Functions to keep syntax cleaner

build.gradle.kts

@@ -16,7 +16,7 @@ plugins {
 }
 
 val javaVersion by extra(17)
-val jvmVendor: JvmVendorSpec by extra { JvmVendorSpec.AMAZON }
+val jvmVendor: JvmVendorSpec by extra { JvmVendorSpec.ADOPTIUM }
 
 @Suppress("PropertyName")
 val ROBOT_MAIN_CLASS = "com.frcteam3636.bunnybots2025.Main"
@@ -105,6 +105,12 @@ deploy {
 
         roborio.artifacts {
             register<FRCJavaArtifact>("frcJava") {
+//                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=10.36.36.2")
                 jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
                 jvmArgs.add("-XX:GCTimeRatio=5")
                 jvmArgs.add("-XX:+UseSerialGC")
@@ -135,6 +141,7 @@ dependencies {
     annotationProcessor(wpi.java.deps.wpilibAnnotations())
     implementation(wpi.java.deps.wpilib())
     implementation(wpi.java.vendor.java())
+    implementation("com.google.code.gson:gson:2.13.1")
 
     roborioDebug(wpi.java.deps.wpilibJniDebug(NativePlatforms.roborio))
     roborioDebug(wpi.java.vendor.jniDebug(NativePlatforms.roborio))

gradle.properties

@@ -1,4 +1,4 @@
-kspVersion=2.2.20-2.0.3
-kotlinVersion=2.2.20
+kspVersion=2.3.1
+kotlinVersion=2.2.21
 frcYear=2025
 wpilibVersion=2025.3.2

limelight/2025-bunnybots.fmap

@@ -0,0 +1 @@
+{"fiducials":[{"family":"apriltag3_36h11_classic","id":1,"size":165.1,"transform":[-2.220446049250313e-16,1,0,-4.572002900000001,-1,-2.220446049250313e-16,0,-0.30675580000000036,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":2,"size":165.1,"transform":[1,0,0,-4.2652217000000014,0,1,0,-8.881784197001252e-16,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":3,"size":165.1,"transform":[2.220446049250313e-16,-1,0,-4.572002900000001,1,2.220446049250313e-16,0,0.30678119999999964,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":4,"size":165.1,"transform":[-1,-1.2246467991473532e-16,0,-4.878758700000001,1.2246467991473532e-16,-1,0,-8.881784197001252e-16,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":5,"size":165.1,"transform":[2.220446049250313e-16,-1,0,4.571997099999999,1,2.220446049250313e-16,0,0.30678119999999964,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":6,"size":165.1,"transform":[-1,-1.2246467991473532e-16,0,4.265241299999998,1.2246467991473532e-16,-1,0,-8.881784197001252e-16,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":7,"size":165.1,"transform":[-2.220446049250313e-16,1,0,4.571997099999999,-1,-2.220446049250313e-16,0,-0.30675580000000036,0,0,1,1.114425,0,0,0,1],"unique":true},{"family":"apriltag3_36h11_classic","id":8,"size":165.1,"transform":[1,0,0,4.878778299999997,0,1,0,-8.881784197001252e-16,0,0,1,1.114425,0,0,0,1],"unique":true}],"type":"frc","fieldlength":16.721537,"fieldwidth":8.0264}

src/main/deploy/Bunnybots-2025-AprilTagMap.json

@@ -0,0 +1,152 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 3.7887655999999996,
+          "y": 3.7064442,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 4.095546799999999,
+          "y": 4.013199999999999,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 3.7887655999999996,
+          "y": 4.3199812,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865475
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 3.4820097999999997,
+          "y": 4.013199999999999,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 12.9327656,
+          "y": 4.3199812,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865475
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 12.626009799999999,
+          "y": 4.013199999999999,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 12.9327656,
+          "y": 3.7064442,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 13.239546799999998,
+          "y": 4.013199999999999,
+          "z": 1.114425
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.721537,
+    "width": 8.026400
+  }
+}

src/main/deploy/choreo/LeftOne.traj

@@ -0,0 +1,66 @@
+{
+ "name":"LeftOne",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.4616594612598419, "y":6.022614002227783, "heading":-0.5208568941062287, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.20108699798584, "y":5.841423988342285, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.7154877185821538, "y":5.7213592529296875, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"PointAt", "props":{"x":3.788172721862793, "y":4.018669128417969, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"0.4616594612598419 m", "val":0.4616594612598419}, "y":{"exp":"6.022614002227783 m", "val":6.022614002227783}, "heading":{"exp":"-0.5208568941062287 rad", "val":-0.5208568941062287}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.20108699798584 m", "val":2.20108699798584}, "y":{"exp":"5.841423988342285 m", "val":5.841423988342285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"3.7154877185821533 m", "val":3.7154877185821538}, "y":{"exp":"5.7213592529296875 m", "val":5.7213592529296875}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"PointAt", "props":{"x":{"exp":"3.788172721862793 m", "val":3.788172721862793}, "y":{"exp":"4.018669128417969 m", "val":4.018669128417969}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.60468,1.13334],
+  "samples":[
+    {"t":0.0, "x":0.46166, "y":6.02261, "heading":-0.52086, "vx":0.0, "vy":0.0, "omega":0.0, "ax":69.06474, "ay":-7.2257, "alpha":-0.12549, "fx":[626.40048,626.62775,626.68804,626.46299], "fy":[-67.01051,-64.98979,-64.0876,-66.11379]},
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+    {"t":1.01134, "x":3.41693, "y":5.74498, "heading":-1.35912, "vx":2.98999, "vy":-0.23533, "omega":-1.7637, "ax":-0.00049, "ay":-0.00614, "alpha":-4.53752, "fx":[-15.69909,24.28201,15.69036,-24.29114], "fy":[-24.34225,-15.75051,24.23089,15.63893]},
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+    {"t":1.09268, "x":3.6574, "y":5.72599, "heading":-1.51007, "vx":2.85677, "vy":-0.2275, "omega":-0.05534, "ax":-70.24906, "ay":5.59435, "alpha":1.36092, "fx":[-636.12421,-636.53028,-638.35317,-638.14749], "fy":[64.76568,60.91615,37.18018,40.14243]},
+    {"t":1.13334, "x":3.71549, "y":5.72136, "heading":-1.51232, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}