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Phase 1 of performance optimization work ported from performance-tweaks-2. Profiling Infrastructure: - Robot.java: Track scheduler and gameState timing (>20ms threshold) - Drive.java: Track lock, gyro, modules, odometry timing (>5ms threshold) - Module.java: Track updateInputs and logging timing (>2ms threshold) - Vision.java: Track copyInputs, cameraLoop, consumer timing (>5ms threshold) - Intake.java: Track update and logging timing (>2ms threshold) - Feeder.java: Track spindexer and kicker timing (>2ms threshold) CAN Optimization: - Remove BaseStatusSignal.refreshAll() calls that block on CAN responses - Rely on Phoenix 6 auto-update at configured frequency (50Hz telemetry) - Position signals for odometry handled by PhoenixOdometryThread at 250Hz - Check connection status via .getStatus().isOK() instead of blocking refresh Files modified: - Drive.java: Remove batched signal refresh, add profiling - Module.java: Remove refreshSignals()/getStatusSignals(), add profiling - ModuleIO.java: Remove interface methods for signal refresh - ModuleIOTalonFX.java: Remove allSignals array and refresh methods - IntakeRollerIOTalonFX.java: Use non-blocking status checks - FlywheelIOTalonFX.java: Use non-blocking status checks Documentation: - Add doc/TWEAKS3.md explaining changes and methodology
Phase 2 of performance optimization work. Profiling: - Launcher.periodic(): Track update, log, aimLog, ballistics timing (>3ms) - Launcher.aim(): Track v0nom, baseSpeeds, v0replan, setPos timing (>500μs) Deferred Logging: - Cache values in aim() instead of calling Logger.recordOutput() directly - Log cached data in periodic() via logCachedAimData() - Moves Logger overhead out of time-critical aim() hot path Zero-Velocity Guard: - Check v_r < 1e-6 before calling Translation2d.getAngle() - Prevents ArithmeticException or NaN when velocity is near zero Method Renames: - getV0() → getV0Nominal() (for impact angle calculation) - getV0() → getV0Replanned() (for flywheel speed recalculation)
Phase 3: Analyzed subsystems added since performance-tweaks-2 was branched for blocking CAN calls and added profiling where needed. Changes: - Add profiling to Hopper.java periodic() with 2ms threshold - Document Phase 3 analysis in TWEAKS3.md Analysis findings: - All Spark-based IOs (Spindexer, Kicker, Hood, Turret) already use SparkOdometryThread for non-blocking CAN reads - GyroIOBoron uses CanandgyroThread for non-blocking reads - Pneumatic IOs (Hopper, IntakeArm) use DoubleSolenoid which has no blocking CAN concerns The codebase is well-structured with consistent use of background threading for motor controller IO operations.
Profiling showed [Intake] update=23ms spikes caused by Logger.recordOutput() calls inside IntakeRollerIOTalonFX.updateInputs(). Each Logger call can take 10-30ms due to serialization overhead. Fix: Move follower telemetry into the IntakeRollerIOInputs struct so it gets logged via Logger.processInputs() in the subsystem's periodic() instead of blocking inside updateInputs(). Changes: - IntakeRollerIO: Add followerAppliedVolts, followerCurrentAmps fields - IntakeRollerIOTalonFX: Populate input fields instead of Logger calls - TWEAKS3.md: Document Phase 5 fix
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Deploys and runs fine, though I only tested it in disabled.