Improvement/always aim turret

.DataLogTool/datalogtool.json

@@ -0,0 +1,7 @@
+{
+  "download": {
+    "localDir": "C:\\Users\\robot\\Downloads\\AllLogs",
+    "remoteDir": "/u/logs",
+    "serverTeam": "5010"
+  }
+}

.SysId/sysid.json

@@ -0,0 +1 @@
+{}

.github/workflows/build.yml

@@ -0,0 +1,18 @@
+name: Build
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build robot code
+        run: ./gradlew build

.gitignore

@@ -185,3 +185,7 @@ compile_commands.json
 
 # Eclipse generated file for annotation processors
 .factorypath
+/results
+/src/main/resources/pose_optimizer
+src/main/java/frc/robot/BuildConstants.java
+src/main/java/frc/robot/BuildConstants.java

.vscode/settings.json

@@ -163,5 +163,5 @@
       "url": "./src/main/resources/schemas/yams-shooter.schema.json"
     }
   ],
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }

build.gradle

@@ -47,10 +47,18 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    // Heap: pre-size to 32m so the JVM doesn't start with a tiny default heap
+                    // and immediately GC. Max 128m keeps us well within the roboRIO's ~400m
+                    // available to user processes.
+                    jvmArgs.add("-Xms32m")
+                    jvmArgs.add("-Xmx128m")
                     jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
-                    jvmArgs.add("-XX:GCTimeRatio=5")
+                    // GCTimeRatio=5 means 1/(1+5)=16% of CPU time is allowed for GC.
+                    // Increase to 19 (≈5%) to starve GC less on a real-time loop.
+                    jvmArgs.add("-XX:GCTimeRatio=19")
                     jvmArgs.add("-XX:+UseSerialGC")
-                    jvmArgs.add("-XX:MaxGCPauseMillis=50")
+                    // Keep MaxGCPauseMillis — hint to GC to try to stay under 4ms.
+                    jvmArgs.add("-XX:MaxGCPauseMillis=4")
                     // Enable VisualVM connection
                     jvmArgs.add("-Dcom.sun.management.jmxremote=true")
                     jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")

simgui-ds.json

@@ -97,7 +97,8 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
+      "guid": "Keyboard0",
+      "name": "Driver"
     }
   ]
 }