Update to 2026.2.1, more auto code, more tag tracking code, pondering on the fly path generation

src/main/java/frc/robot/constants/AutoConstants.java

@@ -0,0 +1,62 @@
+package frc.robot.constants;
+
+import java.io.IOException;
+
+import org.json.simple.parser.ParseException;
+
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.path.PathConstraints;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+// TODO This is all hold over from 2025, does any of it need to change?
+public class AutoConstants {
+    public static final double kMaxSpeedMetersPerSecond = 5;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 4;
+    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
+    public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI;
+
+    public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
+
+    public static final double kPXYController = 3.5;
+    public static final double kPThetaController = 5;
+
+    public static final double kAlignPXYController = 2;
+    public static final double kAlignPThetaController = 5;
+
+    // Constraint for the motion profiled robot angle controller
+    public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularAccelerationRadiansPerSecondSquared);
+
+    public static final TrapezoidProfile.Constraints kAlignThetaControllerConstraints = new TrapezoidProfile.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularAccelerationRadiansPerSecondSquared);
+
+    // TODO This is a constant being managed like a static rewriteable variable
+    public static RobotConfig kRobotConfig;
+    public static boolean kAutoConfigOk;
+
+    public static final PPHolonomicDriveController kPPDriveController = new PPHolonomicDriveController(
+        new PIDConstants(kPXYController, 0, 0),
+        new PIDConstants(kPThetaController, 0, 0)
+    );
+
+    public static final PathConstraints kOnTheFlyConstraints = new PathConstraints(
+        kMaxSpeedMetersPerSecond, 
+        kMaxAccelerationMetersPerSecondSquared, 
+        kMaxAngularSpeedRadiansPerSecond, 
+        kMaxAngularAccelerationRadiansPerSecondSquared
+    );
+
+    static {
+        try {
+            kRobotConfig = RobotConfig.fromGUISettings();
+            kAutoConfigOk = true;
+        } catch (IOException | ParseException e) {
+            System.err.println("FAILED TO READ ROBOTCONFIG, WAS THE CONFIG SET UP IN PATHPLANNER?");
+            e.printStackTrace();
+            kAutoConfigOk = false;
+        }
+    }
+}

src/main/java/frc/robot/constants/PhotonConstants.java

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+package frc.robot.constants;
+
+import edu.wpi.first.math.geometry.Transform3d;
+
+public class PhotonConstants {
+    public static final String kCamera1Name = "pv1";
+    public static final String kCamera2Name = "pv2";
+
+    // TODO Need actual values for all of this
+    public static final Transform3d kCamera1RobotToCam = new Transform3d();
+    public static final Transform3d kCamera2RobotToCam = new Transform3d();
+
+    public static final double kCamera1HeightMeters = 0;
+    public static final double kCamera1PitchRadians = 0;
+    public static final double kCamera2HeightMeters = 0;
+    public static final double kCamera2PitchRadians = 0;
+}