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Split commands from SwerveDrive, extract dynamics and module optimization, and add pure and simulation unit tests. Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Ernie3
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refactor
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Expand frc-unit-tests.mdc with AAA conventions; mention in AGENTS.md. Add section comments across HID, drive, and constants tests. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Break RobotContainer static init cycle with Supplier<Rotation2d>. Skip PathPlanner in tests; add SwerveDriveTest and sim test helpers. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Add SwerveDriveTestFixture (shared sim instance), 13 subsystem tests, 6 command integration tests, HAL init guard, and test ordering fixes. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Module positions, vision heading std devs, goSlow scaling contract, DriverStation sim alliance sign; strengthen goSlow unit test. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Remove per-class fixture teardown that broke other classes, drop duplicate CommandScheduler registration, reset shared sim state between methods, recreate Xbox sim controllers after DriverStation reset, and enable random test order in CI. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
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Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
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Kinematic module angles from toSwerveModuleStates were fed into the pose estimator each tick, which can jump during path rotation and unlike main (which uses measured pivot encoders) caused erratic Field2d heading in auto. Desktop simulateJava now integrates robot-relative chassis speeds with transformBy instead. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
PathPlanner needs non-zero getChassisSpeeds() and pose that tracks the path. Kinematic sim reported zero module speeds and open-loop pose integration desynced from trajectory rotation targets. Auto now uses module physics odometry like main; teleop keeps chassis-speed integration. Sim gyro uses simulationHeading instead of NavX; skip vision fusion in simulateJava. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
Restore drive and RobotContainer to e3b3d1d before the two recent simulateJava pose-integration commits that were pushed prematurely. Co-authored-by: ernestgwilsoniii <ernestgwilsoniii@gmail.com>
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Summary
Refactors swerve drivetrain code for clarity and testability:
DriveCommands, extracted kinematics/dynamics/optimization,FieldConstants, and HID teleop helpers. Includes merge of latestmain. No intentional change to wired teleop, PathPlanner autos, or Limelight odometry — D15 regression still required before merge.Head:
cursor/swerve-drive-refactor-mr-256b(cloud-agent branch; same work stream asrefactor/swerve-drive-and-tests)What changed
SwerveDrive/SwerveModule: hardware and control loops;Supplier<Rotation2d>for gyro heading (production:() -> kNavx.getRotation2d()inRobotContainer)DriveCommands: teleop, go slow, defense hold-heading, practice reset, stop, lock (moved out of the subsystem)DemonCommandXboxController+HIDUtils: shared stick deadband/cubic scaling (replacesSwerveTeleopInputs)SwerveDriveTest,DriveCommandsintegration, motion/optimization/dynamics);SwerveDriveTestFixture+resetBetweenTests(); JUnit random method order (MethodOrderer$Random)frc-unit-tests.mdc;AGENTS.mdpoints at test and cloud setup.cursor/cloud-install.sh(roboRIO deploy unchanged)mavenCentral()insettings.gradlefor Gradle plugin resolutionDriver / auto impact
Behavior-preserving for what is wired today: default field-relative teleop, go-slow, defense heading hold, practice reset (1.016 m, 4.0 m), boot odometry seed, PathPlanner
AutoBuilder, named commandSTOPSwerve, Limelight pose fusion. Unused swerve-only helpers removed (not referenced fromRobotContaineror deploy autos).Test plan
./gradlew test/./gradlew build(GitHub CI)STOPSwerveif your routines use it./gradlew simulateJava,elastic/pathplannerafter environment build