🧹 Nitpick | 🔵 Trivial

Rename firstAutonomousChooser to reflect general usage.
The method configures all three choosers, so firstAutonomousChooser is misleading; consider autonomousChooser or similar. As per coding guidelines, Variable, function, and class names must be descriptive and intention-revealing.

⚠️ Potential issue | 🟠 Major

CENTER_CLIMB_POSITION currently matches LEFT_CLIMB_POSITION.
Line 37 averages the left X with itself and reuses the left Y, so the center selection will resolve to the left climb. If the intent is a midpoint, compute the center using the left/right climb Y values (or the field-width midpoint) and keep X as the shared value.

⚠️ Potential issue | 🟡 Minor

Extract the joystick epsilon into a named constant.
1e-6 is a magic number; define a constant (or reuse an existing deadband constant) to make intent explicit and adjustable.

As per coding guidelines, magic numbers and strings should be named constants.

⚠️ Potential issue | 🟠 Major

getSize always returns 1.
This breaks cluster scoring/consumers once size > 1. Store the size (or the list) in the instance and return the real count.

⚠️ Potential issue | 🟡 Minor

Guard against empty clusters.
pieces.size() can be 0, which will divide by zero. Validate in the constructor or here and fail fast with a clear error.

⚠️ Potential issue | 🟡 Minor

Confirm the 0.01m intake-open distance is intentional.
This threshold is extremely small and may be below sensor noise, which could prevent the “close enough” condition from ever triggering.

🧹 Nitpick | 🔵 Trivial

O(n²) complexity in findBestCluster for each seed.

For every seed, getNeighbors iterates all objects again. With typical vision counts this is fine, but consider early termination or caching if object counts grow.

🧹 Nitpick | 🔵 Trivial

isRight() called at runtime here - correct, but verify heading adjustment logic.

The rotation adjustment at lines 108-109 checks if the heading is outside ±90°. However, the condition > 90 || < -90 doesn't account for the discontinuity at ±180°. Consider using absolute value: Math.abs(rotation.getDegrees()) > 90.

⚠️ Potential issue | 🟡 Minor

Inconsistent rotation check compared to getTrenchExitPose().

Line 117 only checks > 90 but not < -90, while line 108 checks both. This asymmetry could cause different behavior depending on which quadrant the robot is facing.

-if (RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose().getRotation().getDegrees() > 90)
+if (Math.abs(RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose().getRotation().getDegrees()) > 90)

⚠️ Potential issue | 🟡 Minor

getClosestPoseToPose can return null if called with empty varargs.

If poses is empty, closestPose remains null. Consider adding a guard or documenting the precondition.

🧹 Nitpick | 🔵 Trivial

Mark chooser fields as final.

These choosers are initialized once at declaration and their references never change. Mark them final to prevent accidental reassignment:

-public static LoggedDashboardChooser<Supplier<Command>>
+public static final LoggedDashboardChooser<Supplier<Command>>
         FIRST_AUTONOMOUS_CHOOSER = ...

Same applies to CLIMB_POSITION_CHOOSER on line 41.

⚠️ Potential issue | 🟡 Minor

Climb position captured at construction time; null-check runs at runtime.

getClimbCommand receives the position value immediately, but onlyIf re-reads the chooser later. If the selection changes between command construction and execution, behavior is inconsistent.

Fix by changing getClimbCommand to accept a Supplier<FlippablePose2d>:

getClimbCommand(() -> AutonomousConstants.CLIMB_POSITION_CHOOSER.get())
    .onlyIf(() -> AutonomousConstants.CLIMB_POSITION_CHOOSER.get() != null)

Then update getClimbCommand signature at line 73 accordingly.

🧹 Nitpick | 🔵 Trivial

Missing Javadoc for public method.

The new overloaded getDriveToPoseCommand is a public API but lacks documentation. The endVelocity parameter's purpose and expected units should be documented for clarity.

/**
 * Creates a command that drives the swerve to the target pose using path planning.
 *
 * `@param` targetPose  the target pose supplier
 * `@param` constraints the path constraints
 * `@param` endVelocity the target velocity at the end of the path (m/s)
 * `@return` the command
 */

🧹 Nitpick | 🔵 Trivial

Consider naming the velocity threshold constant.

The 1e-3 threshold represents "effectively zero velocity" for deciding whether to apply the final PID correction. While the value is reasonable, a named constant would improve readability.

+private static final double ZERO_VELOCITY_THRESHOLD = 1e-3;
+
 private static Command getCurrentDriveToPoseCommand(FlippablePose2d targetPose, PathConstraints constraints, double endVelocity) {
     return new SequentialCommandGroup(
             new InstantCommand(() -> RobotContainer.SWERVE.initializeDrive(true)),
             AutoBuilder.pathfindToPose(targetPose.get(), constraints, endVelocity),
-            getPIDToPoseCommand(targetPose).onlyIf(() -> endVelocity < 1e-3)
+            getPIDToPoseCommand(targetPose).onlyIf(() -> endVelocity < ZERO_VELOCITY_THRESHOLD)
     );
 }

⚠️ Potential issue | 🟡 Minor

Result may exceed valid output range.

Adding joystickValue (up to ±1) to pidOutput (clamped to ±1) can produce values outside [-1, 1]. If the downstream drive command doesn't handle this, you may get unexpected saturation behavior.

Consider clamping the final result:

return MathUtil.clamp(joystickValue + pidOutput, -1, 1);

🧹 Nitpick | 🔵 Trivial

Magic number: 0.02 should be a named constant.

This assumes a 20ms loop period. Extract to a constant (e.g., LOOP_PERIOD_SECONDS) for clarity and easier tuning if the loop rate changes.

🧹 Nitpick | 🔵 Trivial

Redundant getTranslationError() calls between X and Y output methods.

Both getXControllerOutput and getYControllerOutput independently call getTranslationError(), which computes the same value. Consider caching the error in createTargetUpdateCommand alongside the cluster update to avoid redundant pose lookups each cycle.

🧹 Nitpick | 🔵 Trivial

Brace style: omit braces for single-statement if.

Per team standard, single-line control flow should not use braces.

     private boolean shouldDrive() {
         Translation2d error = getTranslationError();
-        if (error == null) return false;
-        if (error.getNorm() <= AutonomousConstants.AUTO_COLLECTION_INTAKE_OPEN_CHECK_DISTANCE_METERS)
-            return false;
-        return true;
+        if (error == null) return false;
+        return error.getNorm() > AutonomousConstants.AUTO_COLLECTION_INTAKE_OPEN_CHECK_DISTANCE_METERS;
     }

Based on learnings: "In Java files across the repository, follow the team standard to omit braces for single-line if statements."

🧹 Nitpick | 🔵 Trivial

Hardcoded 0.05 margin should use a named constant.

getEffectiveWallX() adds a hardcoded 0.05 safety margin. This should be a constant in GamePieceAutoDriveConstants (e.g., WALL_SAFETY_MARGIN_METERS) for consistency and easier tuning.

⚠️ Potential issue | 🟠 Major

Wrong axis scaling method for rotation.

Line 86 uses calculateDriveStickAxisValue for the rotation stick (getRightX), but this method is intended for translation axes. Based on the CommandConstants documentation, this should use calculateRotationStickAxisValue which applies the correct rotation-specific divider and shift power.

- final double joystickValue = CommandConstants.calculateDriveStickAxisValue(OperatorConstants.DRIVER_CONTROLLER.getRightX());
+ final double joystickValue = CommandConstants.calculateRotationStickAxisValue(OperatorConstants.DRIVER_CONTROLLER.getRightX());

⚠️ Potential issue | 🟡 Minor

Potential NPE: getClosestPoseToPose returns null for empty array.

If poses is empty, closestPose remains null. Callers could NPE. Consider defensive validation or documentation.

⚠️ Potential issue | 🟡 Minor

Use the defined timeout constants instead of hardcoded values.

The timeout values here duplicate constants defined at lines 48-52, and there's a mismatch: getDeliveryCommand uses 6 but DELIVERY_TIMEOUT_SECONDS is 8.

Replace with:

• Line 116: DEPOT_COLLECTION_TIMEOUT_SECONDS (6)
• Line 117: SCORING_TIMEOUT_SECONDS (6)
• Line 118: NEUTRAL_ZONE_COLLECTION_TIMEOUT_SECONDS (1.5)
• Line 119: DELIVERY_TIMEOUT_SECONDS (8) — note this changes behavior

-        firstAutonomousChooser.addOption("Depot", () -> GeneralAutonomousCommands.getCollectFromDepotCommand(true, 6));
-        firstAutonomousChooser.addOption("Score", () -> GeneralAutonomousCommands.getScoreCommand(4));
-        firstAutonomousChooser.addOption("CollectFromNeutralZone", () -> GeneralAutonomousCommands.getCollectFromNeutralZoneCommand(true, 1.5));
-        firstAutonomousChooser.addOption("Delivery", () -> GeneralAutonomousCommands.getDeliveryCommand(true, 6));
+        firstAutonomousChooser.addOption("Depot", () -> GeneralAutonomousCommands.getCollectFromDepotCommand(true, DEPOT_COLLECTION_TIMEOUT_SECONDS));
+        firstAutonomousChooser.addOption("Score", () -> GeneralAutonomousCommands.getScoreCommand(SCORING_TIMEOUT_SECONDS));
+        firstAutonomousChooser.addOption("CollectFromNeutralZone", () -> GeneralAutonomousCommands.getCollectFromNeutralZoneCommand(true, NEUTRAL_ZONE_COLLECTION_TIMEOUT_SECONDS));
+        firstAutonomousChooser.addOption("Delivery", () -> GeneralAutonomousCommands.getDeliveryCommand(true, DELIVERY_TIMEOUT_SECONDS));

⚠️ Potential issue | 🟡 Minor

SCORING_TIMEOUT_SECONDS is 6, but getScoreCommand uses 4.

Either update the constant to 4 or use the constant here. This inconsistency suggests the constant may not reflect the intended value.

🛠️ Refactor suggestion | 🟠 Major

Magic numbers should be named constants.

• 8 on line 71: What does this represent? Initial held fuel capacity?
• 0.31, 5.96 on line 76: Depot center coordinates need descriptive constant names.

Also minor: missing space in i <8 → i < 8.

+    private static final int INITIAL_HELD_FUEL_COUNT = 8;
+    private static final double
+            DEPOT_CENTER_X_METERS = 0.31,
+            DEPOT_CENTER_Y_METERS = 5.96;
+
     // In initializeFuel():
-        for (int i = 0; i <8; i++) {
+        for (int i = 0; i < INITIAL_HELD_FUEL_COUNT; i++) {
             final SimulatedGamePiece currentHeldFuel = new SimulatedGamePiece(0, 0);
             SimulationFieldHandler.addHeldFuel(currentHeldFuel);
         }

-        initializeDepotFuel(0.31, 5.96);
+        initializeDepotFuel(DEPOT_CENTER_X_METERS, DEPOT_CENTER_Y_METERS);

🧹 Nitpick | 🔵 Trivial

Rename new boolean predicates to question-form names.
Lines 109-127 introduce boolean methods with “at…” names; per team conventions, booleans should read as questions (e.g., isAt…). Consider renaming these new methods (and updating call sites) to align with that standard.