No Hitting Trench In Autonomous

[Trigon5990]

No description provided.

[coderabbitai]

Walkthrough

The PR refactors autonomous shooting logic in GeneralAutonomousCommands: getShootAtHubWhileDrivingCommand now selects between three paths (hoodless, hub, over-trench) with runtime logging, and is gated by alliance-zone checks plus a new public isInTrench() predicate. It adds a private isAngleCloserTo180(Rotation2d) helper and getPrepareForShootingWithoutHoodCommand() returning a fixed-87° hood command. AutonomousGenerator gains a log entry "Autonomous/IsInTrench" that records isInTrench(), and AutonomousConstants.SCORING_TIMEOUT_SECONDS is adjusted from 3.5 to 3.7.

🚥 Pre-merge checks | ✅ 1 | ❌ 2

❌ Failed checks (1 warning, 1 inconclusive)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.
Description check	❓ Inconclusive	No pull request description was provided by the author, making it impossible to evaluate whether the description relates to the changeset.	Add a description explaining the motivation and implementation of the trench-avoidance logic, such as mentioning the new isInTrench() helper and its integration into the shooting path decision logic.

✅ Passed checks (1 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title 'No Hitting Trench In Autonomous' directly describes the main change: preventing the robot from entering the trench during autonomous mode, which is the core purpose of the isInTrench() check and conditional logic added throughout the changeset.

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Actionable comments posted: 5

[coderabbitai]

Actionable comments posted: 1