FRC5188 · rhit-edgingza · Mar 10, 2025 · Feb 8, 2025 · Feb 8, 2025 · Feb 9, 2025
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.1"
 }
 
 java {
@@ -33,7 +33,7 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
-                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    deleteOldFiles = true // Change to true to delete files on roboRIO that no
                                            // longer exist in deploy directory of this project
                 }
             }
@@ -47,7 +47,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.

diff --git a/gradlew b/gradlew
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

diff --git a/src/main/deploy/pathplanner/autos/3Piece-A.auto b/src/main/deploy/pathplanner/autos/3Piece-A.auto
diff --git a/src/main/deploy/pathplanner/autos/A_R3.auto b/src/main/deploy/pathplanner/autos/A_R3.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_R2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/HP2_R6.auto b/src/main/deploy/pathplanner/autos/HP2_R6.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HP2_R6"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Leave A.auto b/src/main/deploy/pathplanner/autos/Leave A.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeaveA"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/TestAuto.auto b/src/main/deploy/pathplanner/autos/TestAuto.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TestPath"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/A_R1.path b/src/main/deploy/pathplanner/paths/A_R1.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/A_R2.path b/src/main/deploy/pathplanner/paths/A_R2.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/A_R3.path b/src/main/deploy/pathplanner/paths/A_R3.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/A_R4.path b/src/main/deploy/pathplanner/paths/A_R4.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/B_R2.path b/src/main/deploy/pathplanner/paths/B_R2.path
@@ -38,7 +38,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/B_R3.path b/src/main/deploy/pathplanner/paths/B_R3.path
@@ -38,7 +38,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/B_R4.path b/src/main/deploy/pathplanner/paths/B_R4.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/B_R5.path b/src/main/deploy/pathplanner/paths/B_R5.path
@@ -38,7 +38,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/C_R3.path b/src/main/deploy/pathplanner/paths/C_R3.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/C_R4.path b/src/main/deploy/pathplanner/paths/C_R4.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/C_R5.path b/src/main/deploy/pathplanner/paths/C_R5.path
@@ -38,7 +38,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/C_R6.path b/src/main/deploy/pathplanner/paths/C_R6.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R1.path b/src/main/deploy/pathplanner/paths/HP1_R1.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R2.path b/src/main/deploy/pathplanner/paths/HP1_R2.path
@@ -49,7 +49,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R3.path b/src/main/deploy/pathplanner/paths/HP1_R3.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R4.path b/src/main/deploy/pathplanner/paths/HP1_R4.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R5.path b/src/main/deploy/pathplanner/paths/HP1_R5.path
@@ -70,7 +70,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP1_R6.path b/src/main/deploy/pathplanner/paths/HP1_R6.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP2_R1.path b/src/main/deploy/pathplanner/paths/HP2_R1.path
@@ -38,7 +38,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP2_R2.path b/src/main/deploy/pathplanner/paths/HP2_R2.path
@@ -54,7 +54,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/HP2_R3.path b/src/main/deploy/pathplanner/paths/HP2_R3.path
@@ -70,7 +70,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,