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docs/mkdocs/docs/library/subsystems/bling.md

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+# Bling Subsystem
+
+## Overview
+The BlingSubsystem controls LED lighting (Bling) on the robot using a CTRE CANdle controller. This subsystem provides comprehensive LED control capabilities, including solid colors, animations, queued patterns, and alliance-based color schemes. The system is designed to provide visual feedback about robot state and enhance field presence.
+
+## Core Features
+The subsystem provides robust LED control through several key mechanisms:
+
+### Color Management
+The system supports immediate and queued color changes:
+```java
+// Set immediate color
+bling.setSolidColor(Color.RED);
+
+// Queue next color
+bling.queueColor(nextColor);
+bling.setQueuedColor();  // Apply when ready
+```
+
+### Animation Control
+Animations can be controlled directly or through a queue system:
+```java
+// Run animation immediately
+bling.runAnimation(new RainbowAnimation());
+
+// Queue animation
+bling.queueAnimation(nextAnimation);
+bling.runQueuedAnimation();  // Apply when ready
+```
+
+### Alliance Integration
+The system automatically handles alliance colors:
+```java
+bling.setLedToAllianceColor();  // Sets red/blue based on alliance
+```
+
+## Configuration
+
+### Hardware Setup
+The system expects:
+- CTRE CANdle controller
+- GRB LED strip type
+- Configurable number of LEDs (default 92)
+- Optional LED offset (default 8)
+
+### Tunable Constants
+Key parameters in BlingSubsystemConstants:
+```java
+public static final boolean BLING_ENABLED = false;
+public static final double MAX_LED_BRIGHTNESS = 0.25;
+public static final int NUM_LEDS = 92;
+public static final int LED_OFFSET = 8;
+```
+
+## Telemetry
+The subsystem includes comprehensive telemetry through Shuffleboard:
+- Current color display
+- Active animation status
+- System enable/disable status
+
+## Best Practices
+
+### State Management
+The subsystem maintains clear state through dedicated methods:
+- `clearAnimation()` for stopping animations
+- `clearSolidColor()` for turning off LEDs
+- `clearAll()` for complete reset
+- `runDefault()` for returning to baseline behavior
+
+### Update Cycle
+The subsystem handles updates automatically through:
+- Periodic updates in the subsystem
+- Automatic telemetry updates
+- State management in the command loop
+
+## Integration Notes
+To add this subsystem to your robot:
+
+1. Configure CAN ID for the CANdle
+2. Adjust constants for your LED strip configuration
+3. Set up default command (typically DefaultSetToAllianceColor)
+4. Integrate with robot state indicators as needed
+
+This subsystem is designed to be both robust for competition use and flexible for development and testing purposes.

docs/mkdocs/docs/library/subsystems/swerve.md

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+# SwerveDrive Subsystem
+
+## System Overview
+
+The SwerveDrive system consists of multiple interconnected components that work together to provide a complete swerve drive implementation for FRC robots. The system is built on CTRE's Phoenix 6 framework and integrates with PathPlanner for autonomous path following.
+
+## Core Components
+
+### 1. SwerveDriveSubsystem
+The main subsystem class that handles drive control and odometry. This class extends CTRE's `SwerveDrivetrain` and implements WPILib's `Subsystem` interface.
+
+### 2. SwerveDrivePathPlanner
+Manages autonomous path following and path generation capabilities. This includes auto path selection and execution.
+
+### 3. TunerConstants
+Year-specific configuration files (mk4il22023 and mk4il32024) that contain hardware-specific constants and module configurations.
+
+### 4. SwerveDriveTelemetry
+Handles data visualization and debugging through Shuffleboard.
+
+### 5. SwerveDriveSubsystemConstants
+Contains performance-related constants for different drive modes.
+
+## Configuration Guide
+
+### Module Configuration
+
+Module configuration is handled in the year-specific TunerConstants files. To configure for your robot:
+
+1. Choose the appropriate year's TunerConstants file:
+    - `mk4il22023/TunerConstants.java` for L2 robot (2023)
+    - `mk4il32024/TunerConstants.java` for L3 robot (2024)
+2. Or, generate a new one via PhoenixTunerX
+
+3. Update the following constants in your chosen TunerConstants file:
+```java
+// PID Gains
+private static final Slot0Configs steerGains = new Slot0Configs()
+    .withKP(100)  // Adjust based on your robot's steering response
+    .withKI(0)    
+    .withKD(0.2);
+
+private static final Slot0Configs driveGains = new Slot0Configs()
+    .withKP(3)    // Adjust based on your robot's driving response
+    .withKI(0)
+    .withKD(0);
+```
+
+### PathPlanner Integration
+
+In SwerveDrivePathPlanner.java:
+
+1. Configure path constraints:
+```java
+// In the corresponding year's TunerConstants.java
+public static final PathConstraints PATHFINDING_CONSTRAINTS = new PathConstraints(
+    5.2,  // Max velocity (m/s)
+    3.5,  // Max acceleration (m/s²)
+    Units.degreesToRadians(540),  // Max angular velocity
+    Units.degreesToRadians(460)   // Max angular acceleration
+);
+```
+
+2. Configure the holonomic drive controller:
+```java
+public static final PPHolonomicDriveController PP_HOLONOMIC_DRIVE_CONTROLLER = 
+    new PPHolonomicDriveController(
+        new PIDConstants(2.4, 0, 0.015),  // Translation PID
+        new PIDConstants(7.8, 0, 0.015)   // Rotation PID
+    );
+```
+
+### Performance Tuning
+
+In SwerveDriveSubsystemConstants.java:
+
+1. Configure performance modes:
+```java
+public static final class PerformanceModeDefault {
+    public static final double DRIVE_TRAIN_MAX_SPD = 3.5; // m/s
+    public static final double DRIVE_TRAIN_MAX_ACCELERATION = 2.0; // m/s²
+    public static final double DRIVE_TRAIN_MAX_ROT_SPD = 0.75 * 2 * Math.PI; // rad/s
+}
+```
+
+2. Configure acceleration limits:
+```java
+public static final double DRIVE_XY_SPD_PERF_MODE_SW_FILTER_RATE = 8.0; // m/s/s
+public static final double DRIVE_ROT_SPD_PERF_MODE_SW_FILTER_RATE = 4.0; // rad/s/s
+```
+
+## Telemetry Configuration
+
+In SwerveDriveTelemetry.java:
+
+1. Configure Shuffleboard layout:
+```java
+private ShuffleboardLayout initializePoseList(SwerveDriveSubsystem swerveDrive) {
+    return driveTab
+        .getLayout("Pose", BuiltInLayouts.kList)
+        .withSize(2, 3)
+        .withPosition(0, 0);
+}
+```
+
+2. Add custom telemetry data:
+```java
+private void initializeOtherWidgets(SwerveDriveSubsystem swerveDrive) {
+    driveTab.addBoolean("Custom Metric", () -> /* your condition */);
+}
+```
+
+## Usage Examples
+
+### Basic Drive Configuration
+```java
+// Create drivetrain using the appropriate year's TunerConstants
+SwerveDriveSubsystem swerve = TunerConstants.createDrivetrain();
+
+// Configure PathPlanner
+SwerveDrivePathPlanner pathPlanner = new SwerveDrivePathPlanner(swerve);
+```
+
+### Autonomous Path Following
+```java
+// Load and run an autonomous path
+Command autoPath = pathPlanner.getAutoPath("YourPathName");
+autoPath.schedule();
+
+// Create a pathfinding command to a specific pose
+Command pathfindCommand = pathPlanner.getPathFinderCommand(
+    new Pose2d(1, 1, new Rotation2d()),
+    MetersPerSecond.of(0)
+);
+```
+
+### Manual Drive Control
+```java
+swerve.applyRequest(() -> 
+    new SwerveRequest.FieldCentric()
+        .withVelocityX(joystickX)
+        .withVelocityY(joystickY)
+        .withRotation(joystickRotation)
+);
+```
+
+## Best Practices
+
+1. Module Configuration
+    - Calibrate encoder offsets with the robot elevated and wheels pointing forward
+    - Verify motor and encoder IDs match physical hardware
+    - Double-check gear ratios against physical hardware
+
+2. PathPlanner Usage
+    - Keep path constraints within physical capabilities
+    - Test autonomous paths at reduced speeds first
+    - Use the PathPlanner GUI to visualize and verify paths
+
+3. Performance Tuning
+    - Start with conservative speed limits
+    - Gradually increase limits while monitoring stability
+    - Test all performance modes thoroughly
+
+4. Telemetry
+    - Monitor module states during testing
+    - Use field visualization to verify odometry
+    - Log relevant data for troubleshooting