MermaidJsFile

flowchart TD
    %% Build & CI
    subgraph "Build & CI"
        direction TB
        CI["GitHub Actions CI"]:::build
        Gradle["Gradle Build"]:::build
        Vendordeps["Vendor Deps (vendordeps/*.json)"]:::build
        Package["Package Deploy Assets"]:::build
        CI -->|"triggers"| Gradle
        Gradle -->|"fetch deps"| Vendordeps
        Vendordeps -->|"vendor deps"| Gradle
        Gradle -->|"compile & test"| Package
    end

    %% Deployment
    Deploy["Deploy to RoboRIO"]:::build
    Package -->|"includes src/main/deploy"| Deploy
    Deploy -->|"runs on"| OnBoardRuntimeEntry

    %% On-Board Runtime
    subgraph "On-Board Runtime" 
        direction TB
        WPILib["WPILib<br/>(TimedRobot/Scheduler)"]:::runtime
        Main["Main.java"]:::runtime
        Robot["Robot.java"]:::runtime
        RobotContainer["RobotContainer.java"]:::runtime

        subgraph "Subsystems"
            direction TB
            Elevator["Elevator.java"]:::runtime
            Intake["Intake.java"]:::runtime
            Manipulator["Manipulator.java"]:::runtime
            LEDs["LEDs.java"]:::runtime
        end

        subgraph "Commands & Autonomous"
            direction TB
            AutoChooser["AutoChooser.java"]:::runtime
            AutoAlign["AutoAlign.java"]:::runtime
            AutoPickup["AutoPickup.java"]:::runtime
            OtherCommands["OtherCommands.java<br/>(XBoxSwerve, IntakeCommands, PieceCombos, SafeSubsystems)"]:::runtime
        end

        subgraph "Vision Modules"
            direction TB
            AprilTags["AprilTags.java"]:::runtime
            CoralDetection["CoralDetection.java"]:::runtime
            Algae["Algae.java"]:::runtime
            LimelightHelpers["LimelightHelpers.java"]:::runtime
        end

        WPILib --> Main
        Main --> Robot
        Robot --> RobotContainer
        RobotContainer --> Subsystems
        RobotContainer --> Commands & Autonomous
        RobotContainer --> "Vision Modules"
        Robot --> Hardware
        Robot --> Logs
    end

    %% Library Modules
    subgraph "Library Modules (com.team6962.lib)"
        direction TB
        SwerveCore["Swerve Core & Config"]:::lib
        SwerveControllers["Swerve Controllers & Pre-path"]:::lib
        DigitalSensor["DigitalSensor & BeamBreak"]:::lib
        TelemetryUtils["Telemetry Utilities"]:::lib
        Utils["Utility Math"]:::lib
    end

    Main --> SwerveCore
    Main --> DigitalSensor
    Main --> TelemetryUtils
    SwerveCore --> SwerveControllers
    DigitalSensor --> Utils

    %% Off-Board Tools & Assets
    subgraph "Off-Board Tools & Assets"
        direction TB
        DataLogTool["DataLogTool"]:::tools
        SysID["SysID Tool"]:::tools
        ElevatorSim["ElevatorSim (elevatorsim.py)"]:::tools
        ChoreoAssets["Choreography Trajectories"]:::tools
        MusicCharts["Music Charts"]:::tools
        PathplannerArtifacts["Pathplanner Artifacts"]:::tools
    end

    Logs --> DataLogTool
    Logs --> SysID
    SwerveControllers --> ElevatorSim
    PathplannerArtifacts --> Package
    ChoreoAssets --> Package
    MusicCharts --> Package

    %% Hardware and Logs
    Hardware["Hardware<br/>(motors, sensors, gyro)"]:::runtime
    Logs["Telemetry Logs"]:::tools

    %% Click Events
    click Main "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/Main.java"
    click Robot "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/Robot.java"
    click RobotContainer "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/RobotContainer.java"
    click Elevator "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/subsystems/elevator/Elevator.java"
    click Intake "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/subsystems/intake/Intake.java"
    click Manipulator "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/subsystems/manipulator/Manipulator.java"
    click LEDs "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/subsystems/leds/LEDs.java"
    click AutoChooser "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/auto/AutoChooser.java"
    click AutoAlign "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/auto/AutoAlign.java"
    click AutoPickup "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/auto/AutoPickup.java"
    click OtherCommands "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/commands/XBoxSwerve.java"
    click AprilTags "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/vision/AprilTags.java"
    click CoralDetection "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/vision/CoralDetection.java"
    click Algae "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/frc/robot/vision/Algae.java"
    click LimelightHelpers "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/io/limelightvision/LimelightHelpers.java"
    click SwerveCore "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/com/team6962/lib/swerve/SwerveCore.java"
    click SwerveControllers "https://github.com/snehalmthakkar/code-2025/tree/main/src/main/java/com/team6962/lib/swerve/auto"
    click DigitalSensor "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/com/team6962/lib/digitalsensor/DigitalSensor.java"
    click TelemetryUtils "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/com/team6962/lib/telemetry/Logger.java"
    click Utils "https://github.com/snehalmthakkar/code-2025/blob/main/src/main/java/com/team6962/lib/utils/KinematicsUtils.java"
    click DataLogTool "https://github.com/snehalmthakkar/code-2025/blob/main/.DataLogTool"
    click SysID "https://github.com/snehalmthakkar/code-2025/blob/main/.SysId"
    click ElevatorSim "https://github.com/snehalmthakkar/code-2025/blob/main/elevatorsim.py"
    click ChoreoAssets "https://github.com/snehalmthakkar/code-2025/tree/main/src/main/deploy/choreo"
    click MusicCharts "https://github.com/snehalmthakkar/code-2025/tree/main/src/main/deploy/music"
    click PathplannerArtifacts "https://github.com/snehalmthakkar/code-2025/tree/main/src/main/deploy/pathplanner"

    %% Styles
    classDef build fill:#f9f,stroke:#333,stroke-width:1px
    classDef runtime fill:#9f9,stroke:#333,stroke-width:1px
    classDef lib fill:#99f,stroke:#333,stroke-width:1px
    classDef tools fill:#f99,stroke:#333,stroke-width:1px