Lobbin loco

.SysId/sysid-window.json

@@ -0,0 +1,57 @@
+{
+  "MainWindow": {
+    "GLOBAL": {
+      "font": "Proggy Dotted",
+      "fps": "120",
+      "height": "720",
+      "maximized": "1",
+      "style": "0",
+      "userScale": "2",
+      "width": "1280",
+      "xpos": "0",
+      "ypos": "29"
+    }
+  },
+  "Window": {
+    "###Analyzer": {
+      "Collapsed": "0",
+      "Pos": "320,25",
+      "Size": "360,689"
+    },
+    "###Data Selector": {
+      "Collapsed": "0",
+      "Pos": "5,480",
+      "Size": "310,291"
+    },
+    "###Log Loader": {
+      "Collapsed": "0",
+      "Pos": "5,25",
+      "Size": "310,450"
+    },
+    "###Program Log": {
+      "Collapsed": "0",
+      "Pos": "327,701",
+      "Size": "360,135"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    },
+    "Diagnostic Plots": {
+      "Collapsed": "0",
+      "Pos": "685,25",
+      "Size": "1225,779"
+    },
+    "Exception Caught!": {
+      "Collapsed": "0",
+      "Pos": "720,431",
+      "Size": "480,128"
+    },
+    "Override Units": {
+      "Collapsed": "0",
+      "Pos": "481,289",
+      "Size": "320,144"
+    }
+  }
+}

.SysId/sysid.json

@@ -0,0 +1 @@
+{}

.vscode/settings.json

@@ -29,139 +29,6 @@
     null
   ],
   "java.test.defaultConfig": "WPIlibUnitTests",
-  "java.import.gradle.annotationProcessing.enabled": false,
-  "java.completion.favoriteStaticMembers": [
-    "org.junit.Assert.*",
-    "org.junit.Assume.*",
-    "org.junit.jupiter.api.Assertions.*",
-    "org.junit.jupiter.api.Assumptions.*",
-    "org.junit.jupiter.api.DynamicContainer.*",
-    "org.junit.jupiter.api.DynamicTest.*",
-    "org.mockito.Mockito.*",
-    "org.mockito.ArgumentMatchers.*",
-    "org.mockito.Answers.*",
-    "edu.wpi.first.units.Units.*"
-  ],
-  "java.completion.filteredTypes": [
-    "java.awt.*",
-    "com.sun.*",
-    "sun.*",
-    "jdk.*",
-    "org.graalvm.*",
-    "io.micrometer.shaded.*",
-    "java.beans.*",
-    "java.util.Base64.*",
-    "java.util.Timer",
-    "java.sql.*",
-    "javax.swing.*",
-    "javax.management.*",
-    "javax.smartcardio.*",
-    "edu.wpi.first.math.proto.*",
-    "edu.wpi.first.math.**.proto.*",
-    "edu.wpi.first.math.**.struct.*",
-    null
-  ],
-  "java.dependency.enableDependencyCheckup": false,
-  "json.schemas": [
-    {
-      "fileMatch": [
-        "**/akit_swerve_drivetrain.json"
-      ],
-      "url": "./src/main/resources/schemas/akit_swerve_drivetrain.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/robots.json"
-      ],
-      "url": "./src/main/resources/schemas/robots.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/robot.json"
-      ],
-      "url": "./src/main/resources/schemas/robot.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/competition_mode.json",
-        "**/demo_mode.json"
-      ],
-      "url": "./src/main/resources/schemas/user-mode.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/cameras.json"
-      ],
-      "url": "./src/main/resources/schemas/cameras.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/cameras/**/*.json",
-        "!**/cameras.json"
-      ],
-      "url": "./src/main/resources/schemas/camera.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/controllers.json"
-      ],
-      "url": "./src/main/resources/schemas/controllers.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/controllers/*.json",
-        "!**/controllers/axis/**/*.json"
-      ],
-      "url": "./src/main/resources/schemas/driveteam-controller.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/controllers/axis/*.json"
-      ],
-      "url": "./src/main/resources/schemas/driveteam-controller-axis.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/led_strip.json"
-      ],
-      "url": "./src/main/resources/schemas/led-strip.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/percent_motor.json"
-      ],
-      "url": "./src/main/resources/schemas/percent-motor.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/velocity_motor.json"
-      ],
-      "url": "./src/main/resources/schemas/velocity-motor.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/yams_arm.json"
-      ],
-      "url": "./src/main/resources/schemas/yams-arm.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/yams_elevator.json"
-      ],
-      "url": "./src/main/resources/schemas/yams-elevator.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/yams_pivot.json"
-      ],
-      "url": "./src/main/resources/schemas/yams-pivot.schema.json"
-    },
-    {
-      "fileMatch": [
-        "**/subsystems/example/yams_shooter.json"
-      ],
-      "url": "./src/main/resources/schemas/yams-shooter.schema.json"
-    }
-  ],
+  "java.debug.settings.onBuildFailureProceed": true,
   "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }

CLAUDE.md

@@ -0,0 +1,62 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## What this is
+
+FRC team 5010's 2026 robot code (WPILib, Java 17, command-based). It is built on a reusable in-house framework (`org.frc5010.common`, "FRC5010Lib") that is **JSON-configuration-driven**: robots, subsystems, drivetrains, controllers, and cameras are described by deploy-time JSON rather than hardcoded, so one codebase runs multiple physical robots. AdvantageKit (`org.littletonrobotics.junction`) provides logging/replay; the `Robot` class extends `LoggedRobot`.
+
+## Build / run commands
+
+The build runs Spotless (`compileJava.dependsOn(spotlessApply)`), and Spotless's `googleJavaFormat()` crashes on newer JDKs in some environments (`NoSuchMethodError ... JCImport.getQualifiedIdentifier`). When that happens, exclude the Spotless tasks:
+
+```bash
+./gradlew compileJava -x spotlessJava -x spotlessJavaCheck   # compile only
+./gradlew build       -x spotlessJava -x spotlessJavaCheck   # full build
+./gradlew test        -x spotlessJava -x spotlessJavaCheck   # JUnit 5 tests (src/test/java)
+./gradlew test --tests 'org.frc5010.common.arch.GenericRobotTest'   # single test class
+./gradlew simulateJavaRelease                                 # desktop/maple-sim simulation
+./gradlew deploy                                              # deploy to the roboRIO
+```
+
+Spotless config: `googleJavaFormat`, `removeUnusedImports`, 100-col limit. Run `./gradlew spotlessApply` locally before pushing where the toolchain works; otherwise match the style by hand (2-space indent, ≤100 col code lines — comments/Javadoc are left alone by the formatter).
+
+Chromium/Playwright are preinstalled in the cloud env; do not run `playwright install`.
+
+## How a robot is selected and built (read these together)
+
+1. `frc.robot.Main` → `frc.robot.Robot` (`LoggedRobot`) → `RobotContainer` → `RobotsParser`.
+2. `RobotsParser` reads `src/main/deploy/robots.json`, which maps a robot **name → { id (roboRIO MAC), robotClass, simulate, competition }**. The active robot is chosen by matching the RIO's MAC, or in simulation by the `simulate: true` flag. The matching entry's `robotClass` (e.g. `frc.robot.blackteam.BlackRobot`) is instantiated via reflection with its **deploy directory name** (e.g. `buttercup_swerve`).
+3. `GenericRobot(String directory)` constructs `RobotParser` + `SubsystemParser`, which read the JSON files under `src/main/deploy/<directory>/` and build the drivetrain, subsystems, cameras, and controllers. **Exceptions during this phase are caught in `GenericRobot`'s constructor, printed, and swallowed** — a failed parse leaves a half-built robot rather than a crash, so "the drivetrain didn't get created" usually means an exception was thrown and logged during config parsing.
+
+So robot behavior is determined largely by `src/main/deploy/<robot>/*.json`, not by Java edits. The two configured robots share `BlackRobot` but have different deploy dirs (`black_robot`, `buttercup_swerve`).
+
+## Code layout
+
+- `src/main/java/org/frc5010/common/` — the framework library:
+  - `arch/` — `GenericRobot`, `GenericSubsystem`, `GenericCommand`, NetworkTables value plumbing.
+  - `config/` — JSON parsers (`RobotParser`, `SubsystemParser`, `RobotsParser`) and the `config/json/**` POJOs that map 1:1 to the deploy JSON. `UnitsParser` + `config/units/**` parse `{ "val", "uom" }` measurements (units accept aliases, e.g. `m/sec`, `kg*m^2`, `degrees`).
+  - `drive/` — drivetrain abstractions. See the swerve section below.
+  - `telemetry/` — `DisplayValuesHelper` + `Display*` types wrap NetworkTables entries; `makeConfig*` values are persistent and dashboard-editable (used for live tuning).
+  - `sensors/`, `motors/`, `mechanisms/`, `subsystems/`, `vision/`, `auto/`, `commands/`.
+- `src/main/java/frc/robot/` — WPILib entrypoint + robot-specific code; `blackteam/BlackRobot` is the concrete `GenericRobot` and its subsystems (flywheels, feeder).
+- `src/main/deploy/<robot>/` — per-robot JSON config (robot.json, drivetrain, subsystems, controllers, cameras, pathplanner).
+- `src/main/resources/schemas/` — JSON schemas for the config files (e.g. `akit_swerve_drivetrain.schema.json`); validate config changes against these.
+
+## Swerve drivetrain architecture (the most complex area)
+
+`GenericSwerveDrivetrain` (the WPILib `Subsystem`) wraps a `SwerveDriveFunctions` implementation chosen by `robot.json`'s `driveType`:
+
+- `YAGSL_SWERVE_DRIVE` → `YAGSLSwerveDrivetrain` (the YAGSL/`swervelib` library). Configured by `deploy/<robot>/yagsl_swerve/**` JSON (modules, `pidfproperties.json`, `physicalproperties.json`, `swervedrive.json`).
+- `AKIT_SWERVE_DRIVE` → `AkitSwerveDrive` (AdvantageKit-style IO-layer swerve). Configured by `deploy/<robot>/akit_swerve_drivetrain.json` (validated by the schema). `type` selects the module IO: `TalonFX`, `SparkTalon` (TalonFX drive + Spark steer), or `Spark` (NEO/SparkMax drive + steer).
+
+Key AKit-swerve facts that are non-obvious and have caused real bugs:
+
+- **The `Spark` IO ignores most of the JSON** — `ModuleIOSpark` reads CAN IDs, gear ratios, drive PID, current limits, and per-module `zeroRotation` from the hardcoded `drive/swerve/akit/DriveConstants.java`, **not** from `akit_swerve_drivetrain.json`. The JSON still drives kinematics/PathPlanner/sim. To change Spark hardware behavior, edit `DriveConstants`. (`SparkTalon`/`TalonFX` IOs do read the JSON via `AkitSwerveConfig`.)
+- **Two odometry threads.** `ModuleIOSpark`/`ModuleIOSparkTalon` sample on `SparkOdometryThread`; `GyroIOPigeon2` (a CTRE device) samples on `TalonFXOdometryThread`. Both must be created for the gyro to work, and `AkitSwerveDrive.periodic` must tolerate the two queues having different lengths.
+- **Steering runs closed-loop on the absolute encoder.** Canandmags are read via the Spark's absolute-encoder API; offsets rely on the encoder's internal zero (config offsets are `0`). `Module.runSetpoint` cosine-scales drive speed by the *measured* steering angle and `optimize()`s against it, so the module IO must populate `inputs.turnPosition` (not just `turnAbsolutePosition`) or strafe/odometry break. A module whose zero leaves it resting at ±180° sits on the wrap seam and will intermittently flip direction.
+- Simulation skips the hardware IO entirely (uses `ModuleIOSim`/`GyroIOSim` + maple-sim) and never starts the odometry threads, so hardware-thread/encoder bugs do **not** reproduce in sim.
+
+## Git / workflow
+
+Active development branches are created per-task off the team's feature branches (e.g. `claude/...`). The default branch is protected — branch before committing. Do not push to a different branch without explicit permission. GitHub operations go through the `mcp__github__*` tools (scope: `frc5010/teamblack2025`); there is no `gh` CLI.