5 drive to point

[JosephTLockwood]

Summary by CodeRabbit

• New Features
  • Added autonomous path planning support with PathPlanner integration
  • Added field-centric drive control with joystick and keyboard input bindings
  • Added drive-to-point command for autonomous point-to-point navigation
  • Added telemetry and data logging capabilities for diagnostics
  • Added configurable robot parameters including navigation grid and path definitions

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Walkthrough

This PR integrates PathPlanner autonomous path planning into an FRC robot codebase. It introduces a new CommandSwerveDrivetrain subsystem with AutoBuilder configuration, adds joystick control bindings for field-centric driving, includes a DriveToPoint command for point-to-point navigation, enables Epilogue data logging, and provides PathPlanner configuration files and vendor dependencies.

Changes

Cohort / File(s)	Summary
PathPlanner Configuration Files simgui-ds.json, src/main/deploy/pathplanner/navgrid.json, src/main/deploy/pathplanner/paths/Example Path.path, src/main/deploy/pathplanner/settings.json	New JSON and path files defining keyboard joystick mappings, navigational grid (17.548 × 8.052 m with 0.3 m nodes), example autonomous path with two waypoints and global constraints, and robot/pathplanner settings including drivetrain dimensions, kinematic mode, motor types, and wheel module positions.
Robot Logging & Initialization src/main/java/frc/robot/Robot.java	Added imports for Epilogue and DataLogManager; annotated class with @Logged; initialized DataLogManager and bound Epilogue in constructor.
Container & Control Wiring src/main/java/frc/robot/RobotContainer.java	Added @Logged annotation; implemented path following warmup scheduling, autonomous mode selection via autoChooser (populated from AutoBuilder), joystick bindings for field-centric drive with deadbands, DriveToPoint button mappings (A/B buttons), and idle behavior disable during disabled mode.
Point-to-Point Navigation Command src/main/java/frc/robot/commands/DriveToPoint.java	New command class driving swerve drivetrain to target Pose2d using separate PID controllers for X, Y, and rotation; applies field-centric SwerveRequest each cycle; continuous-input rotation controller; idles drivetrain on end; never finishes on its own.
Swerve Drivetrain Subsystem src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java	New subsystem extending TunerSwerveDrivetrain; provides three overloaded constructors with optional odometry frequency and vision standard deviations; configures PathPlanner AutoBuilder with PPHolonomicDriveController and hardcoded PID constants; manages simulation thread (kSimLoopPeriod-based updates); integrates vision measurements with Kalman filter timestamp handling; applies operator perspective once per enable cycle; exposes applyRequest(Supplier) and pose/module state accessors.
PathPlanner Vendor Dependency vendordeps/PathplannerLib-2025.2.7.json	New manifest file declaring PathplannerLib 2025.2.7 Java and C++ dependencies with multi-platform support (windows/linux/macos/athena/arm architectures).

Sequence Diagram(s)

sequenceDiagram
    participant RobotInit as Robot Constructor
    participant DLM as DataLogManager
    participant Epilogue as Epilogue
    participant Container as RobotContainer
    participant AutoBuilder as PathPlanner<br/>AutoBuilder
    participant Drivetrain as CommandSwerveDrivetrain
    
    RobotInit->>DLM: start()
    RobotInit->>Epilogue: bind(this)
    RobotInit->>Container: create RobotContainer
    
    Container->>AutoBuilder: load RobotConfig from settings
    Container->>AutoBuilder: configure PPHolonomicDriveController<br/>with PID constants
    Container->>AutoBuilder: configure path-flipping logic
    Container->>Drivetrain: applyRequest(field-centric supplier)
    
    Note over Container: Schedule PathPlanner warmup
    Note over Container: Populate autoChooser from<br/>AutoBuilder paths

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sequenceDiagram
    participant Scheduler as Command Scheduler
    participant RobotContainer as RobotContainer
    participant Drivetrain as CommandSwerveDrivetrain
    participant SwerveRequest as SwerveRequest<br/>FieldCentric
    
    Scheduler->>RobotContainer: Poll joystick axes
    RobotContainer->>Drivetrain: apply field-centric<br/>velocities (with deadband)
    
    Scheduler->>Drivetrain: execute()
    Drivetrain->>SwerveRequest: update with<br/>joystick speeds
    SwerveRequest->>Drivetrain: apply to modules
    
    alt Autonomous
        Scheduler->>Drivetrain: execute auto command<br/>from autoChooser
        Drivetrain->>Drivetrain: apply operator<br/>perspective (once)
    end

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Estimated code review effort

🎯 4 (Complex) | ⏱️ ~70 minutes

• CommandSwerveDrivetrain.java requires careful review of AutoBuilder configuration logic, simulation thread initialization (delta-time handling, battery voltage usage), vision measurement integration with Kalman filter timestamp conversion, and operator perspective application state management.
• RobotContainer.java wiring is moderately complex; verify that autoChooser population from AutoBuilder paths and path following warmup scheduling are correct, and that joystick deadband values are appropriate.
• DriveToPoint.java PID controller setup and continuous-input rotation handling should be verified for correctness, particularly the isFinished() returning false (command must be externally stopped).
• PathPlanner configuration files (settings.json, navgrid.json, Example Path.path) should be validated for geometric accuracy and constraint values matching robot capabilities.
• Robot.java and vendor dependency are trivial and low-risk.

Poem

🐰 A swerve of speed, a path so true,
With PathPlanner's wisdom through and through,
Field-centric hops on joystick's call,
DriveToPoint commands conquer all!
Epilogue logs each joyful bound—
Autonomous glory, swift and sound! 🎯

Pre-merge checks and finishing touches

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 64.71% which is insufficient. The required threshold is 80.00%.	You can run @coderabbitai generate docstrings to improve docstring coverage.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title '5 drive to point' accurately reflects the main change: adding a new DriveToPoint command class and integrating it into the robot control system.

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