Base autos (//▽//)

[Wu-Fan-529]

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[Copilot]

Pull request overview

This PR expands the robot’s Choreo autonomous library by adding multiple “Preview” trajectories and regenerating the associated Java constants/trajectory registry so the code can reference these paths consistently at runtime.

Changes:

• Regenerated ChoreoVars with additional Choreo variables (typed units) and a larger set of named field poses.
• Regenerated ChoreoTraj with new trajectory constants and updated ALL_TRAJECTORIES lookup entries.
• Added/updated multiple Choreo .traj files and updated _all_paths.chor variable/pose definitions (including bumper dimension updates).

Reviewed changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/constants/ChoreoVars.java	Adds generated Choreo variables (typed units) and many named poses used by trajectories.
src/main/java/frc/robot/constants/ChoreoTraj.java	Adds new generated trajectory constants and registers them in ALL_TRAJECTORIES.
src/main/deploy/choreo/PreviewSecondDSideTrenchNeutral.traj	Adds a new D-side trench-to-neutral preview trajectory definition.
src/main/deploy/choreo/PreviewPreloadOnly.traj	Renames the path and updates parameters for a preload-only trajectory placeholder.
src/main/deploy/choreo/PreviewPreloadAndBackup.traj	Adds a new preview preload-and-backup trajectory definition.
src/main/deploy/choreo/PreviewOSidePreloadAndBackup.traj	Adds a new O-side preview preload-and-backup trajectory definition.
src/main/deploy/choreo/PreviewFirstOSideTrenchNeutral.traj	Adds a new O-side trench-to-neutral preview trajectory definition.
src/main/deploy/choreo/PreviewFirstDSideTrenchNeutral.traj	Adds a new D-side trench-to-neutral preview trajectory definition.
src/main/deploy/choreo/AutoPIDTuning.traj	Updates bumper dimensions in the PID tuning trajectory config.
src/main/deploy/choreo/_all_paths.chor	Adds shared expressions/poses and updates bumper dimensions used across Choreo paths.

Suppressed comments (1)

src/main/java/frc/robot/constants/ChoreoVars.java:18

• New constants in this file use lower_snake_case (e.g., against_hub), which conflicts with the project’s established constants naming convention (SCREAMING_SNAKE_CASE) for fields in constants/. Consider renaming these generated constants (or adjusting Choreo codegen settings) so Java code can reference them in the expected style.

        public static final Pose2d against_hub = new Pose2d(3.5825274, 4.0294271, Rotation2d.fromRadians(0));

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