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Documentation Index

Fetch the complete documentation index at: https://mintlify.com/robototes/REBUILT2026/llms.txt

Use this file to discover all available pages before exploring further.

Twelve autonomous routines are available in REBUILT 2026, covering left trench, right trench, center, and blocking strategies. All routines are authored in PathPlanner’s .auto format, stored under src/main/deploy/pathplanner/autos/, and loaded at runtime by AutoLogic using AutoBuilder.buildAuto(autoName).

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Registered auto routines

The table below lists every path registered in AutoLogic.initPaths(). The path name is the string key used in code and in the .auto filename; the display name is what appears in the SmartDashboard chooser. All twelve routines have resetOdom: true and belong to the COMP folder in PathPlanner — except Rotate-RT-Neutral, which is in the WIP folder.
Path NameDisplay NameStart ZoneFolder
C-Outpost-DepotC-Outpost-DepotCenterCOMP
LeftTrench-DepotLeftTrench-DepotLeft TrenchCOMP
LT-Neutral-DepotLT-Neutral-DepotLeft TrenchCOMP
LT-NeutralLT-NeutralLeft TrenchCOMP
LT-DoubleNeutralLT-DoubleNeutralLeft TrenchCOMP
RightTrench-OutpostRightTrench-OutpostRight TrenchCOMP
RT-Neutral-OutpostRT-Neutral-OutpostRight TrenchCOMP
Rotate-RT-NeutralRotate-RT-NeutralRight TrenchWIP
RT-NeutralRT-NeutralRight TrenchCOMP
RT-DoubleNeutralRT-DoubleNeutralRight TrenchCOMP
RT-BLOCKRT-BLOCKRight TrenchCOMP
LT-BLOCKLT-BLOCKLeft TrenchCOMP
Several additional .auto files exist in the deploy directory but are not registered in AutoLogic.initPaths() and therefore never appear in the SmartDashboard chooser. These include AntiSteal.auto, RT-Neutral-Hub.auto, RT-Neutral-Climb.auto, LT-Neutral-Climb.auto, and Rotate-LT-Neutral.auto. They can be promoted to active routines by adding the corresponding AutoPath entries in initPaths().

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Default path

When no path is selected in the chooser — or when the "Default" option is active — AutoLogic.getSelectedAuto() falls back to the "Default" auto: 
private static AutoPath defaultPath = new AutoPath("Default", "Default");
The Default.auto file contains no commands and simply resets odometry, giving the robot a safe no-op for untested match configurations.

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PathPlanner settings files

Four settings variants are deployed to src/main/deploy/pathplanner/. AutoBuilderConfig.setRobot() selects the active configuration at startup based on RobotType.

settings(comp).json

Competition robot. Mass: 63 kg, max velocity: 4.5 m/s, max acceleration: 6 m/s², wheel radius: 0.049 m.

settings(alpha).json

Alpha (practice) robot. Mass: 52.7 kg, max velocity: 2.0 m/s, max acceleration: 2 m/s², wheel radius: 0.048 m.

settings.json

Shared baseline used by the PathPlanner GUI. Max velocity: 4.5 m/s, max acceleration: 3.5 m/s². Auto folders: COMP, WIP.

settings(sim).json

Simulation robot. Mass: 45.4 kg, max velocity: 5.0 m/s, max acceleration: 4.75 m/s², wheel radius: 0.048 m. Smaller dimensions: 0.743 × 0.851 m.
All four variants use KrakenX60 drive motors, a 5.36:1 drive gearing, 0.546 m track width, and a 60 A drive current limit.

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Loading a path directly

In addition to AutoBuilder.buildAuto(), individual .path files can be loaded directly via PathPlannerPath.fromPathFile(). AutoLogic.getAutoCommand() exposes this for one-off path following: 
public static Command getAutoCommand(String pathName)
    throws FileVersionException, IOException, ParseException {

    PathPlannerPath path = PathPlannerPath.fromPathFile(pathName);
    return AutoBuilder.followPath(path);
}
This is distinct from .auto file execution and does not run any named commands embedded in the auto sequence.

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AutoDriveRotate — teleop launcher aiming

AutoDriveRotate.autoRotate() is a field-centric swerve command that rotates the drivebase to face the hub while the driver controls translation. It is used during teleop launcher aiming and also appears inside launcherSimCommand() for simulation purposes. 
public static Command autoRotate(
    CommandSwerveDrivetrain drivebaseSubsystem,
    DoubleSupplier xSupplier,
    DoubleSupplier ySupplier,
    DoubleSupplier turretOffsetDegrees)
The controller is a PID loop (kP = 8.0, kI = 0.0, kD = 0.0) clamped to ±2π rad/s, with a position tolerance of 3° and velocity tolerance of 5°/s. The command finishes automatically when isFinished() returns true — but only while autonomous is enabled; in teleop it runs continuously.

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AutonomousField — path ghost display

AutonomousField animates a ghost robot along the selected auto trajectory in the SmartDashboard field view during the disabled period. It is initialised via: 
AutonomousField.initSmartDashBoard(tabName, columnIndex, rowIndex, addPeriodic);
Internally, initSmartDashBoard() registers a addPeriodic callback at 50 ms (20 Hz) that calls autonomousField.update(AutoLogic.getSelectedAutoName()). On each tick the ghost pose is advanced through the pre-generated PathPlannerTrajectory list at the configured DisplaySpeed multiplier (default 1.0, adjustable via Autos/DisplaySpeed in NetworkTables). Two Field2d objects are published:
SmartDashboard KeyContents
Selected autoAnimated ghost pose along the full trajectory
Start poseStatic starting pose of the selected auto
The estimated total auto duration (in seconds, rounded to 2 decimal places) is published to Est. Time (s).

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Choreo integration

The project includes a Choreo trajectory project alongside PathPlanner:
  • src/main/deploy/choreo/REBUILT.chor — the Choreo project file
  • src/main/deploy/choreo/NewPath_copy1.traj — one trajectory exported from Choreo
These files are not currently referenced by AutoLogic but are available for future Choreo-based path following via PathPlanner’s Choreo support.

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