Center auton by TheGreatPintoJ · Pull Request #36 · IgniteRobotics/Robot-2026

TheGreatPintoJ · 2026-03-01T01:50:35Z

No description provided.

github-actions · 2026-03-01T01:51:16Z

AI Code Review

Hello team!

This pull request introduces several new autonomous routines and paths, which is fantastic for giving the robot more strategic options on the field! It also includes some important updates to the PathPlanner settings.json file.

Positive Highlights

Excellent Organization: I really appreciate the effort to organize the auto and path files into more descriptive and consistent folders like "Basic Comp Autons", "Other Comp Autons", "Simple Autons", and "Test Autons". This makes it much easier to navigate and understand the purpose of each auto.
Comprehensive Autonomous Routines: It's great to see a variety of new autonomous sequences added, covering different starting positions and game piece interactions. This will be invaluable during competition!
Clear PathPlanner Structure: The new auto files effectively use sequential commands to combine path following with named robot actions (Shoot, HP Reload), which is a robust way to build complex autonomous modes.

Suggestions

FRC/WPILib Best Practices & Robot Configuration

Verify settings.json Physical Constants: The settings.json file has some critical updates to the robot's physical dimensions and drivetrain characteristics:
- robotWidth and robotLength updated from 0.858 to 0.9.
- driveGearing changed from 6.746 to 5.143. This is a pretty significant change!
- Swerve module offsets (flModuleX/Y, etc.) updated from 0.276 to 0.273.
  It's super important that these values are as accurate as possible to the physical robot. Even small discrepancies can lead to noticeable errors in path following.
- Recommendation: Please double-check these measurements and the driveGearing ratio against the actual robot and drivetrain specifications. It might be helpful to document how these values were measured or calculated (e.g., direct measurement, CAD model, drivetrain calculator output) to ensure future consistency.

Code Quality & Organization

settings.json Path Folder Consistency: In src/main/deploy/pathplanner/settings.json, I noticed that the pathFolders list still includes "Plus Sign Test", even though the Plus 1.path through Plus 4.path files were moved to "Plus - Test".
- Recommendation: Consider removing "Plus Sign Test" from the pathFolders list in settings.json to keep it tidy and accurate with the new folder structure.

Questions

Could you share how the new driveGearing value of 5.143 was determined? Was it a change in the physical gearbox, or a more accurate calculation?
Are the robotWidth and robotLength values of 0.9 meters the bumper-to-bumper dimensions, or the chassis dimensions? Knowing this helps verify the path generation.

Keep up the great work on these autonomous routines! It's awesome to see the robot's capabilities expanding.

This review was automatically generated by AI. Please use your judgment and feel free to discuss any suggestions!

github-actions · 2026-03-01T01:51:32Z