Add REBUILT capability review and prioritized robot-improvement roadmap

[Copilot]

This PR adds a repo-native review of the current robot implementation against the 2026 REBUILT game model. It documents what the robot already supports, identifies strategic gaps visible in code, and turns that into a prioritized roadmap for autos, driver assists, and scoring depth.

• New documentation

  • Adds docs/rebuilt-capability-review.md as a single reference for:
    • current scoring/shooting behavior
    • intake, indexing, and feed-path status
    • autonomous infrastructure and current routines
    • driver-assist and vision-assisted behaviors
    • implementation gaps and underused capabilities

• Codebase-to-strategy mapping

  • Connects existing subsystems and controls to REBUILT match demands:
    • pose-aware hub shooting
    • trench/bump-aware drive behavior
    • depot-based autonomous cycling
    • vision pose fusion and ramp-mode recovery
    • hub-state-aware scoring flow via HubShiftUtil

• Prioritized improvement plan

  • Focuses on the highest-leverage next steps already supported by the current architecture:
    • re-enable and validate the real indexer path
    • expand the autonomous library beyond the single match auto
    • finish passing-mode tuning
    • add operator-visible match-state feedback
    • add lower-burden driver features (A-button assist, latched scoring, fuller intake automation)

• Concrete next-build recommendations

  • Proposes specific autos and feature additions that fit the current Choreo/Command-based structure instead of requiring a control-system rewrite.
  • Includes a staged rollout plan so the team can sequence work by competitive ROI rather than by subsystem novelty.

Relevant documented touchpoints include:

src/main/java/frc/robot/Autos.java
src/main/java/frc/robot/RobotContainer.java
src/main/java/frc/robot/subsystems/Choreographer.java
src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java
src/main/java/frc/robot/commands/DriveCommands.java

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

• 3015rangerrobotics.github.io
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• firstfrc.blob.core.windows.net
  • Triggering command: /home/REDACTED/work/_temp/ghcca-node/node/bin/node /home/REDACTED/work/_temp/ghcca-node/node/bin/node --enable-source-maps /home/REDACTED/work/_temp/copilot-developer-action-main/dist/index.js (dns block)
• frcmaven.wpi.edu
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• groovy.jfrog.io
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• maven.ctr-electronics.com
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• maven.photonvision.org
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• www.firstinspires.org
  • Triggering command: /home/REDACTED/work/_temp/ghcca-node/node/bin/node /home/REDACTED/work/_temp/ghcca-node/node/bin/node --enable-source-maps /home/REDACTED/work/_temp/copilot-developer-action-main/dist/index.js (dns block)
• www.strykeforce.org
  • Triggering command: /home/REDACTED/work/_temp/ghcca-node/node/bin/node /home/REDACTED/work/_temp/ghcca-node/node/bin/node --enable-source-maps /home/REDACTED/work/_temp/copilot-developer-action-main/dist/index.js (dns block)

If you need me to access, download, or install something from one of these locations, you can either:

• Configure Actions setup steps to set up my environment, which run before the firewall is enabled
• Add the appropriate URLs or hosts to the custom allowlist in this repository's Copilot coding agent settings (admins only)

Original prompt

Search through my codebase, logically document scoring capabilities and robot functions, understand the strategic depth and rules for the frc 2026 game, and then do in depth research on how to add more functionality/autos/driver feature/anything to make us do better easier in frc rebuilt

---

💡 You can make Copilot smarter by setting up custom instructions, customizing its development environment and configuring Model Context Protocol (MCP) servers. Learn more Copilot coding agent tips in the docs.