BLine V1(RIP PathPlanner)

[SnappleRamen]

First iteration of BLine implementation for running autos instead of using PathPlanner.

Best Features:

• Dynamic Recorrecting Autos
• Generates auto pathing only during runtime,
• Paths are able to be mirrored or flipped to any position on the field (half as many paths needed)

[SnappleRamen]

/gemini review

[gemini-code-assist]

Code Review

This pull request introduces the BLine autonomous pathing system, adding new path configurations, a layout file, and a vendordep, while reorganizing existing autonomous code into subpackages. The review feedback highlights three critical safety issues where potential NullPointerExceptions could occur: first, stowCommand() lacks a null check for launcherSubsystem; second, autonomousInit() does not guard its simulation and auto-scheduling calls when DRIVEBASE_ENABLED is false; and third, handleAutos() can crash if getSelectedAutoName() returns null during the switch statement. Addressing these issues with the suggested null-safety guards will ensure robust startup and execution.

Important

The consumer version of Gemini Code Assist on GitHub is being sunset. Starting June 18, 2026, new organization installations will be blocked, and all code review activity will officially cease on July 17, 2026.
For more details on the timeline and next steps, please review the Help Documentation.

[gemini-code-assist]

Code Review

This pull request integrates the BLine autonomous path-following system alongside the existing PathPlanner system, introducing new path configuration files, layout definitions, and the BLine-Lib vendor dependency. It also reorganizes the autonomous code into subpackages and updates simulation parameters. While the integration is comprehensive, several critical robustness issues were identified in the feedback: a potential thread hang in BLineAutonomousField due to extremely small path lengths, a potential robot program crash on startup if path files are corrupted, and multiple potential NullPointerException crashes in BLineLogic and RobotSim when switching on null auto names or accessing disabled subsystems (flywheels, hood, and turret).

Important

The consumer version of Gemini Code Assist on GitHub is being sunset. Starting June 18, 2026, new organization installations will be blocked, and all code review activity will officially cease on July 17, 2026.
For more details on the timeline and next steps, please review the Help Documentation.

[SnappleRamen]

I made these changes but I made them on the other BLine branch so I'll go into this branch and add those changes back in.