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started field awareness #68

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4fb6b20
started field awareness
astrobot-coder Mar 1, 2026
fdf8540
Merge branch 'main' of https://github.com/Team5924/GoldenGateRobotics…
arcadeArchitect Mar 2, 2026
c34712a
cleaner trench position contatns
arcadeArchitect Mar 3, 2026
7d0667a
fixed the TODO typo
astrobot-coder Mar 4, 2026
33ba566
made some more progress
astrobot-coder Mar 4, 2026
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12 changes: 11 additions & 1 deletion src/main/java/org/team5924/frc2026/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
import com.ctre.phoenix6.signals.SensorDirectionValue;

import edu.wpi.first.math.util.Units;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;

import edu.wpi.first.apriltag.AprilTagFieldLayout;
Expand Down Expand Up @@ -80,6 +80,16 @@ public final class Field {
public static final double CENTER_X = WIDTH / 2;
public static final double CENTER_Y = LENGTH / 2;
public static final double HUB_X = CENTER_X - 143.50;

public static final double TRENCH_X_ALLIANCE = Units.inchesToMeters(182.11);
public static final double TRENCH_X_OPPONENT = Units.inchesToMeters(469.11);
public static final double TRENCH_Y_LEFT = Units.inchesToMeters(292.718);
public static final double TRENCH_Y_RIGHT = Units.inchesToMeters(25.7);
public static final Translation2d[] TRENCH_TRANSLATIONS = {
new Translation2d(TRENCH_X_ALLIANCE, TRENCH_Y_RIGHT),
new Translation2d(TRENCH_X_ALLIANCE, TRENCH_Y_LEFT),
new Translation2d(TRENCH_X_OPPONENT, TRENCH_Y_RIGHT),
new Translation2d(TRENCH_X_OPPONENT, TRENCH_Y_LEFT)};
}

public final class GenericRollerSystem {
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/org/team5924/frc2026/RobotState.java
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Expand Up @@ -18,6 +18,7 @@

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import lombok.Getter;
import lombok.Setter;
import org.littletonrobotics.junction.AutoLogOutput;
Expand Down Expand Up @@ -52,6 +53,8 @@ public static double getTime() {
@Setter
private Pose2d odometryPose = new Pose2d();

@Getter @Setter private ChassisSpeeds robotChassisSpeeds = new ChassisSpeeds();

@Getter @Setter @AutoLogOutput private Pose2d estimatedPose = Pose2d.kZero;

public void resetPose(Pose2d pose) {
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37 changes: 37 additions & 0 deletions src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
package org.team5924.frc2026.subsystems.awareness;

import org.team5924.frc2026.Constants;
import org.team5924.frc2026.RobotState;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;

public class FieldAwareness {
private static FieldAwareness instance;


public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
Comment on lines +13 to +16
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@coderabbitai coderabbitai Bot Mar 4, 2026

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⚠️ Potential issue | 🟡 Minor

Singleton can still be instantiated directly.

getInstance() implies singleton usage, but without a private constructor, other code can still call new FieldAwareness() and bypass this contract.

Proposed fix 
 public class FieldAwareness {
   private static FieldAwareness instance;
 
+  private FieldAwareness() {}
+
 
   public static FieldAwareness getInstance() {
     if (instance == null) instance = new FieldAwareness();
     return instance;
   }
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
public class FieldAwareness {
private static FieldAwareness instance;
private FieldAwareness() {}
public static FieldAwareness getInstance() {
if (instance == null) instance = new FieldAwareness();
return instance;
}
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java`
around lines 13 - 16, The FieldAwareness class exposes getInstance() but the
constructor is not private so callers can bypass the singleton; make the
FieldAwareness constructor private (or package-private with controlled factory)
to enforce the singleton, keep the existing public static FieldAwareness
getInstance() as the sole accessor, and if desired add lazy-init thread-safety
(e.g., synchronized block or use an initialization-on-demand holder) to the
singleton pattern.


private Translation2d[] getOffsetsToTrenches(){
Translation2d[] offsets = new Translation2d[4];
Translation2d robotPosition = RobotState.getInstance().getOdometryPose().getTranslation();

for (int i = 0; i < 4; i++) {
offsets[i] = Constants.Field.TRENCH_TRANSLATIONS[i].minus(robotPosition);
}

return offsets;
}

private void tdfyguijoi() { // TODO: name later
ChassisSpeeds speeds = RobotState.getInstance().getRobotChassisSpeeds();
Translation2d velocity = new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond);

for (int i = 0; i < 4; i++) {

}
}
}
3 changes: 2 additions & 1 deletion src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -207,7 +207,7 @@ public Drive(

// setpointGenerator = new SwerveSetpointGenerator(kinematics,
// getModuleTranslations());
// previousSetpoint = new SwerveSetpoint(getChassisSpeeds(), getModuleStates());
// previousSetpoint = new SwerveSetpoint(getSpeeds(), getModuleStates());

SmartDashboard.putData(
"Swerve Drive",
Expand Down Expand Up @@ -305,6 +305,7 @@ public void periodic() {
// Update RobotState
RobotState.getInstance().setOdometryPose(getPose());
RobotState.getInstance().setEstimatedPose(getPose());
RobotState.getInstance().setRobotChassisSpeeds(getChassisSpeeds());

// prevents error spam
if (!gyroInputs.connected && wasGyroConnected) {
Expand Down