Add Simulation Support, Diagnostic Testing Framework, Auto Routines, and Code Cleanup - #23

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jmmaloney3 wants to merge 126 commits into

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jmm-sim-test-support

Commits on Jan 26, 2026

Update LimelightHelpers.java
Seqii
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20b464f

Commits on Jan 27, 2026

start to code auto align
Nonochen0104
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0270239

Commits on Jan 29, 2026

Coded auto align, also commented for most of them. Need correction with orbit tuning constans later.
Nonochen0104
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3ab3a8c

Commits on Jan 30, 2026

Add PID controller for correct radius & feedforward with angular velocity
Nonochen0104
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fd480be

Commits on Jan 31, 2026

Fixed the swervemodules
Nonochen0104
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6da7d15
rezeroed
Nonochen0104
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0b3e9c1

Commits on Feb 2, 2026

Commits on Feb 4, 2026

Re-Zero
Seqii
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a05ec42

Commits on Feb 6, 2026

Update translation2d.
Nonochen0104
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78b0413

Commits on Feb 7, 2026

swerve angle drift test
jmmaloney3
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1a2570f
fix bugs
jmmaloney3
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7f5e4a0
fixed bug
jmmaloney3
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46ce5d8

Commits on Feb 11, 2026

fixed some comments
Nonochen0104
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fca8604

Commits on Feb 12, 2026

eliminate CAN ID conflict - causes sim to crash
jmmaloney3
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53092d7

Commits on Feb 13, 2026

Add simulation support:
jmmaloney3
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7cce25e

Commits on Feb 14, 2026

update ids to the Rebuilt drivebase values.
Nonochen0104
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43c5d24
Update Constants.java
Nonochen0104
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6cc9bde
Autonomous (#16)

authored
a6b3ecb
fixed mistake in merge conflict
Seqii
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24fa677
Revert "fixed mistake in merge conflict"
Seqii
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a2810d9
Revert "Autonomous (#16)"
Seqii
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1e40a3e
use setDesiredState to match production, add some network table values
jmmaloney3
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44d354c
Merge jmm-sim-support into jmm-sim-test-support
jmmaloney3
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4a8e4f2
remove duplicate method definition
jmmaloney3
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ffc0291
remove duplicate CAN ID
jmmaloney3
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5d61e93
Merge branch 'main' into REBUILT-DriveBase
Seqii
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54fb350
Add overloaded saveModuleOffsets method
Seqii
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245f909

Commits on Feb 15, 2026

Pathplanner (autonomous)
Nonochen0104
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4945306
Cleaned up things a little
Nonochen0104
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8139582
Add DriveTestAuto
Nonochen0104
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c493164

Commits on Feb 16, 2026

Improve swerve module simulation support and test architecture
jmmaloney3
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b89ce35
Improve swerve **single** module simulation support
jmmaloney3
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c8380f5
Improve swerve angle drift test with hold time and SmartDashboard organization
jmmaloney3
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8b183b5
fix off by one error
jmmaloney3
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cda5a6c
changed one id so it doesn't interfere
Nonochen0104
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8cf1e38

Commits on Feb 17, 2026

Commits on Feb 18, 2026

partial framework: add registry class
jmmaloney3
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712e370
partial implementation: added test manager
jmmaloney3
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d2c0d9d
ignore CTRE simulation files
jmmaloney3
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4838317
partial implementation: integrate test manager into Robot.java
jmmaloney3
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9282cf1
Fix method naming conventions in CandleSubsystem
jmmaloney3
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c3abaab
expose CandleSubsystem for testing and fix method names to follow camelCase convention
jmmaloney3
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5ae0a2f
add LedStateTestCommand as example of using the diagnostic test framework
jmmaloney3
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8d0cf4a
partial migration of SwerveAngleDrifTest to new framework
jmmaloney3
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0b14dfc
partial migration to new test framework
jmmaloney3
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e19056f
move location of params and results in smart dashboard
jmmaloney3
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c66dfdd
move location of params and results in smart dashboard
jmmaloney3
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84eeb78
rename and reorg SwerveAngleDriftTest results to be easier to read
jmmaloney3
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846ed3b
remove obsolete SwerveDriftTestManager class
jmmaloney3
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f89869d
remove unnecessary helper class
jmmaloney3
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cd7e52b
modify getModules to return clone of modules array to prevent accidental modification of the array
jmmaloney3
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f9a0a33
minor formatting change
jmmaloney3
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6c5093a
partial impl: add helper class
jmmaloney3
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eb53c85
updated to use new TestDashboard helper class
jmmaloney3
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a6e81a1

Commits on Feb 19, 2026

add design document for test dashboard helper
jmmaloney3
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62544f5
add 2024-2026 comparison report
jmmaloney3
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4725f3c
Add SwerveAlignmentTest and SwerveStraightLineTest diagnostic commands
jmmaloney3
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40d5124
add debugging methodology document - generated by AI - needs review
jmmaloney3
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a7d3c00
Fixed the problem with swerve module 1
Nonochen0104
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5c519d6
Merge branch 'NonoAuto' into REBUILT-DriveBase
Seqii
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a17b338
Merge pull request #21 from mparobotics/REBUILT-DriveBase
Nonochen0104
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94559db

Commits on Feb 20, 2026

Leave auto (coded manually) worked out great, still figuring out with the pathplanner auto
Nonochen0104
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5270cca
Merge jmm-sim-support into jmm-sim-test-support
jmmaloney3
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0aaa3df
Merge jmm-test-support into jmm-sim-test-support
jmmaloney3
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7f83fab
use consistent header for sim and test support methods
jmmaloney3
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1c32bee
merge jmm-sim-support into jmm-sim-test-support
jmmaloney3
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6328380
use consistent header for sim and test support methods
jmmaloney3
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421637a
merge jmm-test-support into jmm-sim-test-support
jmmaloney3
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d535fcf
updated unit test to test diasgnostic test framework
jmmaloney3
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ecfcd39
group test params/results together under Test:
jmmaloney3
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42fdcf9
add support for calcelling test - in case the robot does somethign unexpected
jmmaloney3
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819da95
update JavaDoc comments to be more accurate
jmmaloney3
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70ac756
simplify logic - remove unnecessary null check
jmmaloney3
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65ced04
remove redundant description - use DiagnosticTest.getDescription instead
jmmaloney3
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323fe25
rearrange fields for improved UX and add description
jmmaloney3
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2d0634a
merge jmm-test-support into jmm-sim-test-support
jmmaloney3
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e0e025a
Merge branch 'main' into NonoAuto
Nonochen0104
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8b3122d
Merge origin/main into jmm-sim-test-support
jmmaloney3
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5106d2d
Merge jmm-clean-up into jmm-sim-test-support
jmmaloney3
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850bbc7
Add standalone 2024 auto mode assessment document (extracted from comparison report §13)
jmmaloney3
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8558f97
added filename and line numbers to code examples
jmmaloney3
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33824d0
Changed the translation2d for the drivebase
rainingmika
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379cecc

Commits on Feb 21, 2026

upgrade to WPILib 2026.2.1
jmmaloney3
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63e30cb
fix module 0 for the fall-drivebase
Nonochen0104
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d0187b5
Fix swerve
Nonochen0104
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4091905
Merge branch 'practice-drivebase' into NonoAuto
Seqii
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ad48494
Revert "Merge branch 'practice-drivebase' into NonoAuto"
Nonochen0104
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90541d4
updated to 2026.2.1
Nonochen0104
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5c63c21
Add SendableChooserUtil for enum-based chooser creation
jmmaloney3
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fec7741

Commits on Feb 22, 2026

Fix spinning robot in AdvantageScope by publishing Robot Pose NT4 struct
jmmaloney3
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50ebd0f

Commits on Feb 23, 2026

Fix PathPlanner trajectory generation: use physical max speed in ModuleConfig
jmmaloney3
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e1f7111
supress debug output from unit test
jmmaloney3
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68407bf
allow joystick warnings to be supressed in sim mode with user-specific (not checked into git) gradle.init setting
jmmaloney3
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3c01680
Add OdometryResetTestCommand diagnostic test
jmmaloney3
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e851f45
Created a center to depot auto.
Nonochen0104
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7427191
Coded an auto that start in front of the trench
Nonochen0104
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067382c
set the default alliance to BLUE alliance instead of red
Nonochen0104
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a656c6e
Merge branch 'NonoAuto' into jmm-sim-test-support
Seqii
authored
c09851b
removed error
Seqii
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ff3a1b7
Revert "removed error"
Seqii
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36d1530
Revert "Merge branch 'NonoAuto' into jmm-sim-test-support"
Seqii
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5a1b868
RobotSimulation for this branch
Nonochen0104
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1a5ec01

Commits on Feb 24, 2026

Commits on Feb 25, 2026

add guidance for unit testing with HAL simulator
jmmaloney3
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3af857b
update assessment of reset sim capability
jmmaloney3
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72fe2a1

Commits on Feb 26, 2026

remove duplicate ctre_sim entry
jmmaloney3
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ba42a94
make diagnistic test manager compatible with elastic UI
jmmaloney3
committed
068a292

Commits on Feb 27, 2026

switch supress-joystick-warnings in sim to false to align with WPILib default
jmmaloney3
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4542374

Commits on Feb 28, 2026

prevent test running outside test mode
jmmaloney3
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0dac138