Merge remote-tracking branch 'origin/main'

README.md

@@ -1,2 +1,8 @@
 # Codex
 Team 4201's Generic Robot Software Library
+
+## Development Notes
+* Maven artifacts are saved under the [releases/](releases) directory after running `./gradlew publish`.
+* To publish changes to the library, run `./gradlew publish` and push the updated files under `releases/` to GitHub.
+  * TODO: This can be automated with a GitHub action. 
+* The Codex repo is set to host the root directory of the main branch as a GitHub page, which allows the vendordep JSON file to pull the library.

releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.md5

@@ -1 +1 @@
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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha1

@@ -1 +1 @@
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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha256

@@ -1 +1 @@
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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-javadoc.jar.sha512

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.md5

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha1

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha256

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1-sources.jar.sha512

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.md5

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha1

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha256

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releases/repos/org/team4201/Codex-java/2025.0.1/Codex-java-2025.0.1.jar.sha512

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src/main/java/org/team4201/codex/utils/TrajectoryUtils.java

@@ -49,13 +49,12 @@ public TrajectoryUtils(SwerveSubsystem swerveDrive, RobotConfig robotConfig, PID
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param pathName The name of the PathPlanner Trajectory file to reference.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
+  public Command generatePPHolonomicCommand(String pathName) {
     try {
-     return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, false);
+     return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, false);
     } catch (Exception e) {
       DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
       return new WaitCommand(0);
@@ -66,14 +65,13 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param pathName The name of the PathPlanner Trajectory file to reference.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
    * @param manualFlip Option to manually flip the trajectory instead of using the robot's current {@link DriverStation.Alliance} color
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(String pathName, double maxSpeed, boolean manualFlip) {
+  public Command generatePPHolonomicCommand(String pathName, boolean manualFlip) {
     try {
-      return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, manualFlip);
+      return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, manualFlip);
     } catch (Exception e) {
         DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
         return new WaitCommand(0);
@@ -84,43 +82,28 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed, bool
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param path The {@link PathPlannerPath} to follow.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
+   * @param robotConfig The {@link RobotConfig} to use.
    *
    * @return Command
    */
-  public Command generatePPHolonomicCommand(PathPlannerPath path, double maxSpeed) {
+  public Command generatePPHolonomicCommand(PathPlannerPath path, RobotConfig robotConfig) {
 
-    return generatePPHolonomicCommand(path, maxSpeed, false);
+    return generatePPHolonomicCommand(path, robotConfig, false);
   }
 
   /**
    * Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
    *
    * @param path The {@link PathPlannerPath} to follow.
-   * @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
+   * @param robotConfig The {@link RobotConfig} to use
    * @param flipPath Option to flip the trajectory around the field's center.
    *
    * @return Command
    */
   public Command generatePPHolonomicCommand(
       PathPlannerPath path,
-      double maxSpeed,
+      RobotConfig robotConfig,
       boolean flipPath) {
-
-    RobotConfig robotConfig = m_robotConfig;
-    if (maxSpeed != 0) {
-      ModuleConfig moduleConfig =
-              new ModuleConfig(m_robotConfig.moduleConfig.wheelRadiusMeters,
-                      maxSpeed,
-                      m_robotConfig.moduleConfig.wheelCOF,
-                      m_robotConfig.moduleConfig.driveMotor,
-                      m_robotConfig.moduleConfig.driveCurrentLimit,
-                      m_robotConfig.moduleConfig.
-                      driveCurrentLimit,
-                      1);
-      robotConfig = new RobotConfig(m_robotConfig.massKG, m_robotConfig.MOI, moduleConfig, m_robotConfig.moduleLocations);
-    }
-
     return new FollowPathCommand(
         path,
         () -> m_swerveDrive.getState().Pose,