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ChiriacIoana merged 11 commits into
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@ChiriacIoanaChiriacIoana commented Feb 20, 2026•
edited by coderabbitai Bot
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Summary by CodeRabbit

Release Notes

  • New Features

    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics

  • Improvements

    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs

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📝 Walkthrough

Walkthrough

The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.

Changes

Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().

Sequence Diagram

sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end
Loading

Estimated Code Review Effort

🎯 4 (Complex) | ⏱️ ~45 minutes

Poem

🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖

✨ Finishing Touches
  • 📝 Generate docstrings (stacked PR)
  • 📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  • Create PR with unit tests
  • Post copyable unit tests in a comment
  • Commit unit tests in branch new_auto

Tip

Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

❤️ Share

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@ChiriacIoana
ChiriacIoana merged commit ec3c27f into mainFeb 20, 2026
1 check was pending
@coderabbitaicoderabbitaiBot mentioned this pull request Mar 2, 2026
Merged
@coderabbitaicoderabbitaiBot mentioned this pull request Aug 7, 2026
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@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai
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new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
Merged
new changes #2
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Conversation
@ChiriacIoana
@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
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Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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Caution
Review failed
The pull request is closed.
📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

@coderabbitaicoderabbitaiBot
mentioned this pull request
Mar 2, 2026
 Merged

@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

, 'i');
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new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
Merged
new changes #2
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Conversation
@ChiriacIoana
@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
Bot
Loading

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Collaborator
Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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Caution
Review failed
The pull request is closed.
📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

@coderabbitaicoderabbitaiBot
mentioned this pull request
Mar 2, 2026
 Merged

@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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4 participants

@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

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var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
Merged
new changes #2
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Conversation
@ChiriacIoana
@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
Bot
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Collaborator
Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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Caution
Review failed
The pull request is closed.
📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

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mentioned this pull request
Mar 2, 2026
 Merged

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mentioned this pull request
Aug 7, 2026
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@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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new changes  - #2
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ChiriacIoana merged 11 commits into
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new changes #2
ChiriacIoana merged 11 commits into
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@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
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Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

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mentioned this pull request
Mar 2, 2026
 Merged

@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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4 participants

@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
Merged
new changes #2
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Conversation
@ChiriacIoana
@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
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Collaborator
Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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Caution
Review failed
The pull request is closed.
📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

@coderabbitaicoderabbitaiBot
mentioned this pull request
Mar 2, 2026
 Merged

@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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4 participants

@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
Merged
new changes #2
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Conversation
@ChiriacIoana
@ChiriacIoanaChiriacIoana
commented
Feb 20, 2026•

edited by coderabbitai
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Collaborator
Before issuing a pull request, please see the contributing page.
Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
@coderabbitai
coderabbitaiBot
commented
Feb 20, 2026•

edited

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Caution
Review failed
The pull request is closed.
📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

Loading
Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
Tip
Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord.
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.
❤️ Share
Comment @coderabbitai help to get the list of available commands and usage tips.
@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

1 check was pending

@coderabbitaicoderabbitaiBot
mentioned this pull request
Mar 2, 2026
 Merged

@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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4 participants

@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
Skip to content
new changes  - #2
Merged
ChiriacIoana merged 11 commits into
mainfrom 
new_auto
Feb 20, 2026
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Feb 20, 2026•

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Summary by CodeRabbit
Release Notes
  • New Features
    • Integrated advanced path-following system for improved autonomous navigation accuracy
    • Added heading stabilization for more precise robot orientation tracking
    • Enhanced auto-aim functionality for turret targeting improvements
    • Expanded real-time telemetry display with loop timing metrics
  • Improvements
    • Optimized shooter tuning constants for better performance across ranges
    • Enhanced brake behavior during teleop mode for improved control
    • Improved pose tracking and storage for consistent autonomous repeat runs
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Feb 20, 2026•

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📝 Walkthrough
Walkthrough
The PR refactors the robot architecture from direct KronBot usage to a Robot singleton pattern, integrates PedroPathing for autonomous navigation via a Follower object, introduces a new Heading subsystem for pose filtering, and updates all autonomous and manual operations to use centralized robot control mechanisms.
Changes
Cohort / File(s)Summary
Robot Architecture Core
KronBot.java, Robot.java		Major refactoring: KronBot introduces Follower-based initialization and removes legacy range/color sensors; Robot adds a new Heading subsystem for filtering pose data with delta-based calculations, integrates turret auto-aim logic, and exposes follower-driven control. Robot replaces direct Follower field with Heading-mediated updates.
Autonomous Operations
autonomous/Auto_*.java, autonomous/AutonomousConstants.java, baseOps/BaseAuto.java		Converts all autonomous modes from KronBot to Robot singleton pattern with robot.follower for path control. AutonomousConstants updates three back-pose coordinates. New BaseAuto class provides skeleton with telemetry integration and stub methods for path following and actuator control.
Manual Operations
manual/MainDrivingOp.java, manual/MainDrivingNewOp.java, manual/NewFieldCentricExOp.java, manual/SimpleDrivingOp.java, manual/TurretDataOp.java, manual/OuttakeShootingTesting.java, manual/IdleOp.java, manual/PinpointOp.java		Unified teleop initialization to use initHardware() instead of legacy methods; MainDrivingOp adds LpsCounter for loop timing, integrates follower.update() for teleop drive, and auto-aim toggle logic; MainDrivingNewOp disabled via annotation; IdleOp removed; OuttakeShootingTesting removes loader reversal and ultrasonic telemetry.
Utilities and Components
utils/Constants.java, utils/PoseStorage.java, utils/components/TurretAligner.java, utils/components/RobotCentricDrive.java, utils/components/OuttakeStateMachine.java, utils/misc/LpsCounter.java		Constants updated for shooter velocity ranges and DELTA_THRESHOLD added; PoseStorage refactored to use external storage paths instead of AppUtil; TurretAligner reworked to use Pose targets with relative heading calculation; new LpsCounter utility for loop-time measurement; OuttakeStateMachine skeleton added; RobotCentricDrive minor power-call reordering.
Configuration & Build
pedroPathing/Constants.java, pedroPathing/Tuning.java, gradle/gradle-daemon-jvm.properties, settings.gradle		Pedro MecanumConstants enables brake mode in teleop; PinpointConstants forward encoder changed to FORWARD; Gradle daemon JVM properties auto-generated; settings.gradle adds commented Gradle toolchains alternatives.
Integration Hub
baseOps/MainTeleOp.java, utils/tests/TestAuto.java		MainTeleOp removes reverseButton field, switches to initHardware(); TestAuto replaces initAutonomy with initHardware().
Sequence Diagram
sequenceDiagram
participant Init as Initialization
participant Robot as Robot Singleton
participant Follower as PedroPathing Follower
participant Heading as Heading Subsystem
participant Subsystems as Subsystems (Intake, Turret, etc.)
Init->>Robot: getInstance()
Init->>Robot: initHardware(hardwareMap)
Robot->>Follower: create & configure
Init->>Robot: initFollower(hardwareMap, pose)
Robot->>Follower: setPose()
loop Loop Cycle
Follower->>Follower: update pose
Follower-->>Robot: getCurrentPose()
Robot->>Heading: update(rawHeading)
Heading->>Heading: apply delta filter
Heading-->>Robot: get() filtered heading
Robot->>Subsystems: update with filtered heading
Robot->>Follower: setTeleOpDrive() / followPath()
end

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Estimated Code Review Effort
🎯 4 (Complex) | ⏱️ ~45 minutes
Poem
🐰 Hops with glee around the code,
New singleton Robot takes the road,
Heading filters smooth the way,
PedroPathing leads the day,
Refactored paths, from old to new—
What marvels shall our KronBot do! 🤖
✨ Finishing Touches
  •  📝 Generate docstrings (stacked PR)
  •  📝 Generate docstrings (commit on current branch)
🧪 Generate unit tests (beta)
  •  Create PR with unit tests
  •  Post copyable unit tests in a comment
  •  Commit unit tests in branch new_auto
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@ChiriacIoana
ChiriacIoana
merged commit ec3c27f
into
mainFeb 20, 2026

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@coderabbitaicoderabbitaiBot
mentioned this pull request
Mar 2, 2026
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@coderabbitaicoderabbitaiBot
mentioned this pull request
Aug 7, 2026
 Merged

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4 participants

@ChiriacIoana@ImMihai689@Robi2903@Telea-Mihai