Heatmap

build.gradle

@@ -1,6 +1,17 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id "com.peterabeles.gversion" version "1.10"
+}
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/New_York" // Use preferred time zone
+  indent       = "  "
 }
 
 java {
@@ -27,6 +38,15 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    // Enable VisualVM connection
+                    jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+                    jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+                    jvmArgs.add("-Djava.rmi.server.hostname=10.14.58.2") // Replace TE.AM with team number
+                    jvmArgs.add("-XX:+HeapDumpOnOutOfMemoryError")
+                    jvmArgs.add("-XX:HeapDumpPath=/home/lvuser/dumps/")
                 }
 
                 // Static files artifact
@@ -50,13 +70,24 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
+
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
+    classpath = sourceSets.main.runtimeClasspath
+}
+
 dependencies {
     annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
+    // ...
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
@@ -75,6 +106,41 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
+
+
+// Create commit with working changes on event branches
+task(eventDeploy) {
+    doLast {
+        if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
+            def branchPrefix = "event"
+            def branch = 'git branch --show-current'.execute().text.trim()
+            def commitMessage = "Update at '${new Date().toString()}'"
+
+            if (branch.startsWith(branchPrefix)) {
+                exec {
+                    workingDir(projectDir)
+                    executable 'git'
+                    args 'add', '-A'
+                }
+                exec {
+                    workingDir(projectDir)
+                    executable 'git'
+                    args 'commit', '-m', commitMessage
+                    ignoreExitValue = true
+                }
+
+                println "Committed to branch: '$branch'"
+                println "Commit message: '$commitMessage'"
+            } else {
+                println "Not on an event branch, skipping commit"
+            }
+        } else {
+            println "Not running deploy task, skipping commit"
+        }
+    }
+}
+createVersionFile.dependsOn(eventDeploy)
+
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'

simgui-ds.json

@@ -20,6 +20,14 @@
           "keyRate": 0.009999999776482582
         },
         {},
+        {
+          "decKey": 49,
+          "incKey": 50
+        },
+        {
+          "decKey": 51,
+          "incKey": 52
+        },
         {
           "decKey": 74,
           "incKey": 76
@@ -61,7 +69,7 @@
       "axisCount": 2,
       "buttonCount": 4,
       "buttonKeys": [
-        77,
+        -1,
         44,
         46,
         47

src/main/deploy/choreo/rightTrench.traj

@@ -0,0 +1,27 @@
+{
+ "name":"rightTrench",
+ "version":1,
+ "snapshot":{
+  "waypoints":[],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":null,
+  "waypoints":[],
+  "samples":[],
+  "splits":[]
+ },
+ "events":[]
+}