Add reusable libraries from 2025 codebase by AdamEXu · Pull Request #1 · PinewoodRobotics/2026Rebuilt

AdamEXu · 2026-01-15T00:17:41Z

Add CustomMath utility (trajectory, angles, matrices, deadband)
Add AlignmentPoints framework for field-relative positioning
Add PigeonGyro and AHRSGyro hardware abstractions
Update vendordeps to 2026 versions (Phoenix6, REVLib, AdvantageKit)
Add EJML dependency for matrix operations

- Add CustomMath utility (trajectory, angles, matrices, deadband) - Add AlignmentPoints framework for field-relative positioning - Add PigeonGyro and AHRSGyro hardware abstractions - Update vendordeps to 2026 versions (Phoenix6, REVLib, AdvantageKit) - Add EJML dependency for matrix operations

godbrigero · 2026-01-15T00:19:08Z

build.gradle

    implementation "com.google.protobuf:protobuf-java:3.22.2"

+    // Math utilities for CustomMath matrix operations
+    implementation 'org.ejml:ejml-all:0.41'


Not needed in the codebase

Copilot

Pull request overview

This PR adds reusable utility libraries and hardware abstractions from a 2025 codebase, and updates vendor dependencies to 2026 versions.

Changes:

Add CustomMath utility library with trajectory generation, angle operations, matrix transformations, and deadband functions
Add AlignmentPoints framework for managing field-relative positioning with alliance mirroring
Add PigeonGyro and AHRSGyro hardware abstraction classes
Update vendordeps (Phoenix6 26.1.0, REVLib 2026.0.0, Phoenix5 5.36.0, AdvantageKit 26.0.0)
Add EJML 0.41 dependency for matrix operations
Clean up Python code: remove unused function, improve type safety, and refactor deployment logic

Reviewed changes

Copilot reviewed 16 out of 17 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
vendordeps/REVLib.json	New REVLib 2026.0.0 with additional backend driver dependencies
vendordeps/REVLib-2025.0.2.json	Removed old 2025.0.2 version
vendordeps/Phoenix6-26.1.0.json	New Phoenix6 26.1.0 with updated sim artifacts
vendordeps/Phoenix6-25.2.2.json	Removed old 25.2.2 version
vendordeps/Phoenix5-5.36.0.json	Updated to 5.36.0 for 2026 season
vendordeps/Phoenix5-5.35.1.json	Removed old 5.35.1 version
vendordeps/AdvantageKit.json	Updated to version 26.0.0
src/main/java/frc/robot/util/CustomMath.java	New math utility library with trajectory, angle, and matrix operations
src/main/java/frc/robot/util/AlignmentPoints.java	New field positioning framework with alliance mirroring
src/main/java/frc/robot/hardware/PigeonGyro.java	Hardware abstraction for CTRE Pigeon2 gyro
src/main/java/frc/robot/hardware/AHRSGyro.java	Hardware abstraction for NavX AHRS gyro
src/main/java/frc/robot/RobotContainer.java	Added controller declarations and imports
src/backend/python/common/debug/logger.py	Removed unused stats_for_nerds_akit function
src/backend/python/common/camera/image_utils.py	Improved type safety with MatLike cast and error handling
src/backend/python/common/camera/abstract_camera.py	Removed unnecessary type conversion logic
src/backend/deployment/util.py	Refactored deployment: removed sudo from mkdir, moved cleanup to correct location, fixed Rust binary path
build.gradle	Added EJML 0.41 dependency for matrix operations

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Copilot · 2026-01-15T00:22:18Z

src/main/java/frc/robot/util/CustomMath.java

+import java.util.stream.Collectors;
+
+import org.ejml.simple.SimpleMatrix;
+import org.pwrup.util.Vec2;


The import org.pwrup.util.Vec2 is present but the Vec2 class is never used in this file. This will cause a compilation error if the dependency is not available. Remove this unused import.

Suggested change

import org.pwrup.util.Vec2;

Copilot · 2026-01-15T00:22:18Z

src/main/java/frc/robot/util/CustomMath.java

+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import proto.pathfind.Pathfind.PathfindResult;


The import proto.pathfind.Pathfind.PathfindResult is used in method signatures but this proto file may not exist in the codebase yet. This will cause a compilation error. Either ensure this proto file exists or remove methods that depend on it (lines 24-28, 30-47).

Copilot · 2026-01-15T00:22:19Z

src/main/java/frc/robot/RobotContainer.java

+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;


The imports Supplier, Pose2d, and InstantCommand are not used anywhere in the visible code. Remove these unused imports to keep the code clean.

Suggested change

import java.util.function.Supplier;

import edu.wpi.first.math.geometry.Pose2d;

import edu.wpi.first.wpilibj2.command.Command;

import edu.wpi.first.wpilibj2.command.InstantCommand;

import edu.wpi.first.wpilibj2.command.Command;

Copilot · 2026-01-15T00:22:19Z

src/main/java/frc/robot/RobotContainer.java

 import edu.wpi.first.wpilibj2.command.Command;



The Command import appears twice (lines 6 and 14). Remove the duplicate import on line 14.

Suggested change

import edu.wpi.first.wpilibj2.command.Command;

Copilot · 2026-01-15T00:22:19Z

src/main/java/frc/robot/util/CustomMath.java

+      return currentSetpoint += maxRamp;
+    } else if (setpoint - currentSetpoint < -maxRamp) {
+      return currentSetpoint -= maxRamp;
+    }
+    return currentSetpoint = setpoint;


Using assignment within return statements (lines 297, 299, 301) is confusing and modifies the parameter which has no effect since Java passes primitives by value. These assignments to currentSetpoint parameter are misleading. Change to: return currentSetpoint + maxRamp, return currentSetpoint - maxRamp, and return setpoint.

Suggested change

return currentSetpoint += maxRamp;

} else if (setpoint - currentSetpoint < -maxRamp) {

return currentSetpoint -= maxRamp;

}

return currentSetpoint = setpoint;

return currentSetpoint + maxRamp;

} else if (setpoint - currentSetpoint < -maxRamp) {

return currentSetpoint - maxRamp;

}

return setpoint;

Copilot · 2026-01-15T00:22:19Z

src/main/java/frc/robot/util/CustomMath.java

+      in += 1;
+    }
+    return in;
+    // return ((in + 0.5) % 1) - 0.5;


The commented-out code on line 103 should be removed. If this is an alternative implementation, document why the current implementation is preferred or remove it entirely.

Suggested change

// return ((in + 0.5) % 1) - 0.5;

Copilot · 2026-01-15T00:22:20Z

src/main/java/frc/robot/hardware/PigeonGyro.java

+   * Set the default CAN ID used by GetInstance().
+   * Call this before the first call to GetInstance().
+   */
+  public static void setDefaultCanId(int canId) {
+    defaultCanId = canId;
+  }
+
+  public static PigeonGyro GetInstance() {


Method name GetInstance() does not follow Java naming conventions. It should be getInstance() with a lowercase 'g'. Same issue exists in AHRSGyro.java line 42.

Suggested change

* Set the default CAN ID used by GetInstance().

* Call this before the first call to GetInstance().

*/

public static void setDefaultCanId(int canId) {

defaultCanId = canId;

}

public static PigeonGyro GetInstance() {

* Set the default CAN ID used by getInstance().

* Call this before the first call to getInstance().

*/

public static void setDefaultCanId(int canId) {

defaultCanId = canId;

}

public static PigeonGyro getInstance() {

Copilot · 2026-01-15T00:22:20Z

src/backend/deployment/util.py

        str(getattr(pi, "port", 22)),
        f"ubuntu@{pi.address}",
-        f"sudo mkdir -p {remote_target_dir}",
+        f"mkdir -p {remote_target_dir}",


Removed sudo from the mkdir command. This could cause permission errors if the user doesn't have write access to the parent directory. Ensure the ubuntu user has appropriate permissions or consider keeping sudo for directory creation.

Suggested change

f"mkdir -p {remote_target_dir}",

f"sudo mkdir -p {remote_target_dir}",

Copilot · 2026-01-15T00:22:20Z

src/backend/python/common/camera/image_utils.py

        )
+        if decoded is None:
+            raise ValueError(
+                f"Failed to decode JPEG image (format={proto_image.format}, bytes={len(proto_image.image)})"


The error message on lines 68-70 references proto_image.format which is an enum. Consider using proto_image.format.name or a more descriptive format representation for better debugging.

Suggested change

f"Failed to decode JPEG image (format={proto_image.format}, bytes={len(proto_image.image)})"

f"Failed to decode JPEG image (format={ImageFormat.Name(proto_image.format)}, bytes={len(proto_image.image)})"

godbrigero · 2026-01-15T00:20:57Z

src/backend/deployment/util.py

this is wrong. the /deployment folder should not be replaced from the base command-robot-base

godbrigero · 2026-01-15T00:22:37Z

src/main/java/frc/robot/RobotContainer.java

+  final FlightModule m_flightModule = new FlightModule(
+    m_leftFlightStick,
+    m_rightFlightStick);
+  private Boolean isNonFieldRelative = false;


not needed only used for a specific application of swerve drive being non field relative

godbrigero · 2026-01-15T00:23:54Z

src/main/java/frc/robot/util/CustomMath.java

not strictly needed. I'd start with a clean slate ngl. jst remove the functions that aren't used anywhere in the base codebase

AdamEXu · 2026-01-15T00:38:47Z

@copilot explain changes godbrigero made after my initial commit

Copilot · 2026-01-15T00:38:58Z

@AdamEXu I've opened a new pull request, #2, to work on those changes. Once the pull request is ready, I'll request review from you.

AdamEXu requested review from Copilot and godbrigero January 15, 2026 00:17

Copilot started reviewing on behalf of AdamEXu January 15, 2026 00:18 View session

godbrigero reviewed Jan 15, 2026

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Copilot AI reviewed Jan 15, 2026

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godbrigero reviewed Jan 15, 2026

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godbrigero added 2 commits January 14, 2026 16:27

remove not needed

5d9dfbc

remove useless stuff from code

5b1b622

Copilot AI mentioned this pull request Jan 15, 2026

[WIP] Add reusable libraries from 2025 codebase #2

Closed

godbrigero added 5 commits January 14, 2026 16:46

fix config not running

e670733

add extra makefile commands relating to testing and init

7c5b15f

fix not bulding

7a78a99

fix testing

62d021b

fix docs

1b51483

godbrigero merged commit 010c43d into main Jan 15, 2026

godbrigero deleted the adam/util-migration branch January 15, 2026 00:56

	f"mkdir -p {remote_target_dir}",
	f"sudo mkdir -p {remote_target_dir}",

	f"Failed to decode JPEG image (format={proto_image.format}, bytes={len(proto_image.image)})"
	f"Failed to decode JPEG image (format={ImageFormat.Name(proto_image.format)}, bytes={len(proto_image.image)})"

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