TCTitans3767 · jckitkat · Oct 14, 2025 · Oct 14, 2025
diff --git a/build.gradle b/build.gradle
@@ -95,6 +95,8 @@ dependencies {
 
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+
+    annotationProcessor project('robotControlAnnotations')
 }
 
 test {

diff --git a/robotControlAnnotations/build.gradle b/robotControlAnnotations/build.gradle
@@ -0,0 +1,27 @@
+plugins {
+    id 'java'
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+}
+
+group = 'org.frc3767'
+version = 'unspecified'
+
+repositories {
+    mavenCentral()
+}
+
+dependencies {
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.3.2'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.3.2'
+    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2025.3.2'
+    testImplementation platform('org.junit:junit-bom:5.10.0')
+    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    implementation 'com.squareup:javapoet:1.13.0'
+    implementation('com.google.auto.service:auto-service:1.1.1')
+    annotationProcessor 'com.google.auto.service:auto-service:1.1.1'
+}
+
+test {
+    useJUnitPlatform()
+}
diff --git a/...lAnnotations/build/resources/main/META-INF/services/javax.annotation.processing.Processor b/...lAnnotations/build/resources/main/META-INF/services/javax.annotation.processing.Processor
@@ -0,0 +1,2 @@
+StateAnnotationHandler
+TransitionAnnotationHandler
diff --git a/.../tmp/compileJava/compileTransaction/stash-dir/TransitionAnnotationHandler.class.uniqueId0 b/.../tmp/compileJava/compileTransaction/stash-dir/TransitionAnnotationHandler.class.uniqueId0
diff --git a/robotControlAnnotations/build/tmp/compileJava/previous-compilation-data.bin b/robotControlAnnotations/build/tmp/compileJava/previous-compilation-data.bin
diff --git a/robotControlAnnotations/build/tmp/jar/MANIFEST.MF b/robotControlAnnotations/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,2 @@
+Manifest-Version: 1.0
+
diff --git a/robotControlAnnotations/src/main/java/StateAnnotationHandler.java b/robotControlAnnotations/src/main/java/StateAnnotationHandler.java
@@ -0,0 +1,82 @@
+import com.squareup.javapoet.FieldSpec;
+import com.squareup.javapoet.JavaFile;
+import com.squareup.javapoet.MethodSpec;
+import com.squareup.javapoet.TypeSpec;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import javax.annotation.processing.AbstractProcessor;
+import javax.annotation.processing.RoundEnvironment;
+import javax.annotation.processing.SupportedAnnotationTypes;
+import javax.annotation.processing.SupportedSourceVersion;
+import javax.lang.model.SourceVersion;
+import javax.lang.model.element.*;
+import javax.tools.Diagnostic;
+import java.io.IOException;
+import java.util.Optional;
+import java.util.Set;
+
+public class StateAnnotationHandler extends AbstractProcessor {
+    private static String getPackageName(Element e) {
+        while (e != null) {
+            if (e.getKind().equals(ElementKind.PACKAGE)) {
+                return ((PackageElement) e).getQualifiedName().toString();
+            }
+            e = e.getEnclosingElement();
+        }
+
+        return null;
+    }
+
+    @Override
+    public boolean process(Set<? extends TypeElement> annotations, RoundEnvironment roundEnv) {
+        Optional<? extends TypeElement> annotationOptional =
+                annotations.stream()
+                        .filter((te) -> te.getSimpleName().toString().equals("State"))
+                        .findFirst();
+
+        if (!annotationOptional.isPresent()) {
+            return false;
+        }
+
+        TypeSpec.Builder stateClass = TypeSpec.classBuilder("RobotStates").addModifiers(Modifier.PUBLIC);
+        MethodSpec.Builder stateInitializer = MethodSpec.constructorBuilder().addModifiers(Modifier.PUBLIC);
+
+        TypeElement annotation = annotationOptional.get();
+        roundEnv.getElementsAnnotatedWith(annotation)
+                .forEach(
+                        (element) -> {
+                            String robotModeName = element.getSimpleName().toString();
+                            String robotModePackage = getPackageName(element);
+
+                            processingEnv.getMessager().printMessage(Diagnostic.Kind.WARNING, "Found state: " + robotModeName + " in package " + robotModePackage);
+
+                            FieldSpec stateCommand = FieldSpec.builder(Command.class, Character.toLowerCase(robotModeName.charAt(0)) + robotModeName.substring(1), Modifier.PUBLIC, Modifier.STATIC).build();
+                            stateInitializer.addStatement("RobotStates.$N = new $T()", stateCommand, element.asType());
+
+                            stateClass.addField(stateCommand);
+                        }
+                );
+
+        stateClass.addMethod(stateInitializer.build());
+
+        JavaFile fileBuilder = JavaFile.builder("frc.robot.utils", stateClass.build()).build();
+
+        try {
+            fileBuilder.writeTo(processingEnv.getFiler());
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+
+        return true;
+    }
+
+    @Override
+    public SourceVersion getSupportedSourceVersion() {
+        return SourceVersion.latestSupported();
+    }
+
+    @Override
+    public Set<String> getSupportedAnnotationTypes() {
+        return Set.of("frc.robot.utils.State");
+    }
+}
diff --git a/robotControlAnnotations/src/main/java/TransitionAnnotationHandler.java b/robotControlAnnotations/src/main/java/TransitionAnnotationHandler.java
@@ -0,0 +1,82 @@
+import com.squareup.javapoet.FieldSpec;
+import com.squareup.javapoet.JavaFile;
+import com.squareup.javapoet.MethodSpec;
+import com.squareup.javapoet.TypeSpec;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import javax.annotation.processing.AbstractProcessor;
+import javax.annotation.processing.RoundEnvironment;
+import javax.annotation.processing.SupportedAnnotationTypes;
+import javax.annotation.processing.SupportedSourceVersion;
+import javax.lang.model.SourceVersion;
+import javax.lang.model.element.*;
+import javax.tools.Diagnostic;
+import java.io.IOException;
+import java.util.Optional;
+import java.util.Set;
+
+public class TransitionAnnotationHandler extends AbstractProcessor {
+    private static String getPackageName(Element e) {
+        while (e != null) {
+            if (e.getKind().equals(ElementKind.PACKAGE)) {
+                return ((PackageElement) e).getQualifiedName().toString();
+            }
+            e = e.getEnclosingElement();
+        }
+
+        return null;
+    }
+
+    @Override
+    public boolean process(Set<? extends TypeElement> annotations, RoundEnvironment roundEnv) {
+        Optional<? extends TypeElement> annotationOptional =
+                annotations.stream()
+                        .filter((te) -> te.getSimpleName().toString().equals("Transition"))
+                        .findFirst();
+
+        if (!annotationOptional.isPresent()) {
+            return false;
+        }
+
+        TypeSpec.Builder stateClass = TypeSpec.classBuilder("RobotTransitions").addModifiers(Modifier.PUBLIC);
+        MethodSpec.Builder stateInitializer = MethodSpec.constructorBuilder().addModifiers(Modifier.PUBLIC);
+
+        TypeElement annotation = annotationOptional.get();
+        roundEnv.getElementsAnnotatedWith(annotation)
+                .forEach(
+                        (element) -> {
+                            String robotModeName = element.getSimpleName().toString();
+                            String robotModePackage = getPackageName(element);
+
+                            processingEnv.getMessager().printMessage(Diagnostic.Kind.WARNING, "Found transition: " + robotModeName + " in package " + robotModePackage);
+
+                            FieldSpec stateCommand = FieldSpec.builder(Command.class, Character.toLowerCase(robotModeName.charAt(0)) + robotModeName.substring(1), Modifier.PUBLIC, Modifier.STATIC).build();
+                            stateInitializer.addStatement("RobotTransitions.$N = new $T()", stateCommand, element.asType());
+
+                            stateClass.addField(stateCommand);
+                        }
+                );
+
+        stateClass.addMethod(stateInitializer.build());
+
+        JavaFile fileBuilder = JavaFile.builder("frc.robot.utils", stateClass.build()).build();
+
+        try {
+            fileBuilder.writeTo(processingEnv.getFiler());
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+
+        return true;
+    }
+
+    @Override
+    public SourceVersion getSupportedSourceVersion() {
+        return SourceVersion.latestSupported();
+    }
+
+    @Override
+    public Set<String> getSupportedAnnotationTypes() {
+        return Set.of("frc.robot.utils.Transition");
+    }
+}
diff --git a/...rolAnnotations/src/main/resources/META-INF/services/javax.annotation.processing.Processor b/...rolAnnotations/src/main/resources/META-INF/services/javax.annotation.processing.Processor
@@ -0,0 +1,2 @@
+StateAnnotationHandler
+TransitionAnnotationHandler
diff --git a/settings.gradle b/settings.gradle
@@ -28,3 +28,4 @@ pluginManagement {
 
 Properties props = System.getProperties();
 props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
+include 'robotControlAnnotations'
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
@@ -26,6 +26,9 @@
 import frc.robot.commands.AutonCommands.CoralReefAlignPoseAuton;
 import frc.robot.commands.AutonCommands.CoralReefPoseAuton;
 import frc.robot.subsystems.robotControl.RobotControl;
+import frc.robot.subsystems.robotControl.RobotControlIOInputsAutoLogged;
+import frc.robot.utils.RobotStates;
+import frc.robot.utils.RobotTransitions;
 import frc.robot.utils.Utils.ReefPosition;
 
 public class Autos {
@@ -60,16 +63,16 @@ public static Command J4_L4_A4_B4_Lolipops() {
             CoralReefAlignPoseAuton alignWithB2 = new CoralReefAlignPoseAuton(ReefPosition.B, "2", false);
 
             return new SequentialCommandGroup(
-                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? leftWall_A.getStartingHolonomicPose().get() : flipped_LeftWall_AB.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotControl.transitPose);}),
+                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? leftWall_A.getStartingHolonomicPose().get() : flipped_LeftWall_AB.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotTransitions.transitPose);}),
                 new InstantCommand(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(leftWall_A));}),
                 new WaitUntilCommand(RobotControl::isDriveCommandFinished).finallyDo(() -> RobotControl.setCurrentMode(alignWithA4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(A_LeftLolipop))),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(leftLolipop_B));}),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(A_LeftLolipop))),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(leftLolipop_B));}),
                 new WaitUntilCommand(RobotControl::isDriveCommandFinished).finallyDo(() -> RobotControl.setCurrentMode(alignWithB4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(B_MiddleLolipop))),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> RobotControl.setCurrentMode(alignWithA2)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(A_RightLolipop))),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(RightLolipop_B))),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(B_MiddleLolipop))),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> RobotControl.setCurrentMode(alignWithA2)),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(A_RightLolipop))),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> RobotControl.setDriveModeCommand(AutoBuilder.followPath(RightLolipop_B))),
                 new WaitUntilCommand(RobotControl::isDriveCommandFinished).finallyDo(() -> RobotControl.setCurrentMode(alignWithB2))
             );
 
@@ -97,14 +100,14 @@ public static Command J4_K4_L4_CoralStation() {
             CoralReefPoseAuton L4Pose = new CoralReefPoseAuton("4");
 
             return new SequentialCommandGroup(
-                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? rightReefStart_J.getStartingHolonomicPose().get() : flippedRightReefStart_J.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotControl.transitPose);}),
+                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? rightReefStart_J.getStartingHolonomicPose().get() : flippedRightReefStart_J.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotTransitions.transitPose);}),
                 new InstantCommand(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(rightReefStart_J));}),
                 new WaitUntilCommand(RobotControl::isDriveCommandFinished).finallyDo(() -> RobotControl.setCurrentMode(alignWithJ4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotControl.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(J_CoralStation));}),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_K));}),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotTransitions.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(J_CoralStation));}),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_K));}),
                 new WaitUntilCommand(() -> RobotControl.isDriveCommandFinished()).finallyDo(() -> RobotControl.setCurrentMode(alignWithK4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotControl.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(K_CoralStation));}),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_L));}),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotTransitions.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(K_CoralStation));}),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_L));}),
                 new WaitUntilCommand(() -> RobotControl.isDriveCommandFinished()).finallyDo(() -> RobotControl.setCurrentMode(alignWithL4))
             );
         } catch (Exception e) {
@@ -131,14 +134,14 @@ public static Command E4_C4_D4_CoralStation() {
             CoralReefPoseAuton L4Pose = new CoralReefPoseAuton("4");
 
             return new SequentialCommandGroup(
-                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? rightReefStart_E.getStartingHolonomicPose().get() : flippedRightReefStart_E.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotControl.transitPose);}),
+                new InstantCommand(() -> {Robot.drivetrain.setPose(Robot.getAlliance() == Alliance.Blue ? rightReefStart_E.getStartingHolonomicPose().get() : flippedRightReefStart_E.getStartingHolonomicPose().get()); RobotControl.setCurrentMode(RobotTransitions.transitPose);}),
                 new InstantCommand(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(rightReefStart_E));}),
                 new WaitUntilCommand(() -> RobotControl.isDriveCommandFinished()).finallyDo(() -> RobotControl.setCurrentMode(alignWithE4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotControl.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(E_CoralStation));}),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_C));}),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotTransitions.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(E_CoralStation));}),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_C));}),
                 new WaitUntilCommand(() -> RobotControl.isDriveCommandFinished()).finallyDo(() -> RobotControl.setCurrentMode(alignWithC4)),
-                new WaitUntilCommand(() -> RobotControl.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotControl.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(C_CoralStation));}),
-                new WaitUntilCommand(() -> RobotControl.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_D));}),
+                new WaitUntilCommand(() -> RobotTransitions.coralFloorPose.isScheduled()).finallyDo(() -> {RobotControl.setCurrentMode(RobotTransitions.coralStationPose); RobotControl.setDriveModeCommand(AutoBuilder.followPath(C_CoralStation));}),
+                new WaitUntilCommand(() -> RobotTransitions.transitPose.isScheduled()).finallyDo(() -> {RobotControl.setDriveModeCommand(AutoBuilder.followPath(CoralStation_D));}),
                 new WaitUntilCommand(() -> RobotControl.isDriveCommandFinished()).finallyDo(() -> RobotControl.setCurrentMode(alignWithD4))
             );
         } catch (Exception e) {
@@ -151,8 +154,8 @@ public static Command centerAutoH() {
         CoralReefAlignPoseAuton alignWithH4 = new CoralReefAlignPoseAuton(ReefPosition.H, "4", false);
 
         return new SequentialCommandGroup(
-            new InstantCommand(() -> RobotControl.setCurrentMode(RobotControl.transitPose)),
-            new WaitUntilCommand(() -> RobotControl.transit.isScheduled()),
+            new InstantCommand(() -> RobotControl.setCurrentMode(RobotTransitions.transitPose)),
+            new WaitUntilCommand(() -> RobotStates.transit.isScheduled()),
             new InstantCommand(() -> RobotControl.setCurrentMode(alignWithH4))
         );
     }
@@ -162,8 +165,8 @@ public static Command centerAutoG() {
         CoralReefAlignPoseAuton alignWithG4 = new CoralReefAlignPoseAuton(ReefPosition.G, "4", true);
 
         return new SequentialCommandGroup(
-            new InstantCommand(() -> RobotControl.setCurrentMode(RobotControl.transitPose)),
-            new WaitUntilCommand(() -> RobotControl.transit.isScheduled()),
+            new InstantCommand(() -> RobotControl.setCurrentMode(RobotTransitions.transitPose)),
+            new WaitUntilCommand(() -> RobotStates.transit.isScheduled()),
             new InstantCommand(() -> RobotControl.setCurrentMode(alignWithG4))
         );
     }
-Original file line number
+Diff line change
@@ Expand Up / @@ -95,6 +95,8 @@ dependencies { @@
         def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
         annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+        annotationProcessor project('robotControlAnnotations')
     }
     test {
@@ Expand Down @@
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		StateAnnotationHandler
		TransitionAnnotationHandler
Original file line number	Diff line number	Diff line change
Expand Up		@@ -28,3 +28,4 @@ pluginManagement {

		Properties props = System.getProperties();
		props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
		include 'robotControlAnnotations'