Skip to content

started field awareness #68

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
astrobot-coder wants to merge 5 commits into
base: main
Choose a base branch
from
Open

started field awareness #68

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
4fb6b20
started field awareness
astrobot-coder Mar 1, 2026
fdf8540
Merge branch 'main' of https://github.com/Team5924/GoldenGateRobotics…
arcadeArchitect Mar 2, 2026
c34712a
cleaner trench position contatns
arcadeArchitect Mar 3, 2026
7d0667a
fixed the TODO typo
astrobot-coder Mar 4, 2026
33ba566
made some more progress
astrobot-coder Mar 4, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion src/main/java/org/team5924/frc2026/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
import com.ctre.phoenix6.signals.SensorDirectionValue;

import edu.wpi.first.math.util.Units;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;

import edu.wpi.first.apriltag.AprilTagFieldLayout;
Expand Down Expand Up @@ -78,6 +78,8 @@ public final class Field {
public static final double CENTER_X = WIDTH / 2;
public static final double CENTER_Y = LENGTH / 2;
public static final double HUB_X = CENTER_X - 143.50;

public static final Translation2d[] TRENCH_TRANSLATIONS = {new Translation2d(182.11, 25.7), new Translation2d(182.11, 292.718), new Translation2d(469.11, 25.7), new Translation2d(469.11, 292.718)};
Comment thread
coderabbitai[bot] marked this conversation as resolved.
Outdated
}

public final class GenericRollerSystem {
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/org/team5924/frc2026/RobotState.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import lombok.Getter;
import lombok.Setter;
import org.littletonrobotics.junction.AutoLogOutput;
Expand Down Expand Up @@ -52,6 +53,8 @@ public static double getTime() {
@Setter
private Pose2d odometryPose = new Pose2d();

@Getter @Setter private ChassisSpeeds robotChassisSpeeds = new ChassisSpeeds();

@Getter @Setter @AutoLogOutput private Pose2d estimatedPose = Pose2d.kZero;

public void resetPose(Pose2d pose) {
Expand Down
35 changes: 35 additions & 0 deletions src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
package org.team5924.frc2026.subsystems.awareness;

import org.team5924.frc2026.Constants;
import org.team5924.frc2026.RobotState;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;

public class FieldAwareness {
private static FieldAwareness instance;


public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
Comment on lines +13 to +16

@coderabbitai coderabbitai Bot Mar 4, 2026

Copy link
Copy Markdown
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

⚠️ Potential issue | 🟡 Minor

Singleton can still be instantiated directly.

getInstance() implies singleton usage, but without a private constructor, other code can still call new FieldAwareness() and bypass this contract.

Proposed fix 
 public class FieldAwareness {
   private static FieldAwareness instance;
 
+  private FieldAwareness() {}
+
 
   public static FieldAwareness getInstance() {
     if (instance == null) instance = new FieldAwareness();
     return instance;
   }
📝 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.

Suggested change
public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
public class FieldAwareness {
private static FieldAwareness instance;
private FieldAwareness() {}
public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java`
around lines 13 - 16, The FieldAwareness class exposes getInstance() but the
constructor is not private so callers can bypass the singleton; make the
FieldAwareness constructor private (or package-private with controlled factory)
to enforce the singleton, keep the existing public static FieldAwareness
getInstance() as the sole accessor, and if desired add lazy-init thread-safety
(e.g., synchronized block or use an initialization-on-demand holder) to the
singleton pattern.


private double[] getDistanceToTrenches(){
double[] distance = new double[4];
Translation2d robotPosition = RobotState.getInstance().getOdometryPose().getTranslation();

for (int i = 0; i < 4; i++) {
distance[i] = Constants.Field.TRENCH_TRANSLATIONS[i].getDistance(robotPosition);
}

return distance;
}

private void tdfyguijoi() { // TOD: name later
ChassisSpeeds speeds = RobotState.getInstance().getRobotChassisSpeeds();
Translation2d velocity = new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond);


}

@coderabbitai coderabbitai Bot Mar 1, 2026

Copy link
Copy Markdown
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

⚠️ Potential issue | 🟡 Minor

Placeholder method with nonsensical name and no implementation.

This method has a random keyboard-mash name (tdfyguijoi), is private and unused, contains incomplete logic (creates variables but doesn't use them), and has a typo in the comment ("TOD" instead of "TODO"). Consider either:

  1. Removing this placeholder until the implementation is ready, or
  2. Renaming with a meaningful name and adding a proper // TODO: comment explaining the intended behavior.
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java`
around lines 29 - 34, The private method tdfyguijoi contains unused local
variables (ChassisSpeeds, Translation2d), a keyboard-mash name, and a typo in
the comment; either delete this placeholder entirely if it's not referenced, or
rename it to a meaningful name (e.g., computeFieldVelocity or
updateFieldAwareness) and replace the comment with a proper TODO (// TODO:
describe intended behavior), then either implement the intended logic using
RobotState.getInstance().getRobotChassisSpeeds(), ChassisSpeeds, and
Translation2d or leave a clear TODO and ensure the method is referenced/used;
also remove the stray variables if you choose to keep a stub.

}
3 changes: 2 additions & 1 deletion src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -207,7 +207,7 @@ public Drive(

// setpointGenerator = new SwerveSetpointGenerator(kinematics,
// getModuleTranslations());
// previousSetpoint = new SwerveSetpoint(getChassisSpeeds(), getModuleStates());
// previousSetpoint = new SwerveSetpoint(getSpeeds(), getModuleStates());

SmartDashboard.putData(
"Swerve Drive",
Expand Down Expand Up @@ -305,6 +305,7 @@ public void periodic() {
// Update RobotState
RobotState.getInstance().setOdometryPose(getPose());
RobotState.getInstance().setEstimatedPose(getPose());
RobotState.getInstance().setRobotChassisSpeeds(getChassisSpeeds());

// prevents error spam
if (!gyroInputs.connected && wasGyroConnected) {
Expand Down