Read the example.yml (does not change base on macAddress)

build.gradle

@@ -71,6 +71,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    // Add SnakeYaml Docs: https://bitbucket.org/snakeyaml/snakeyaml/wiki/Documentation Installation Info: https://mvnrepository.com/artifact/org.yaml/snakeyaml
+    implementation group: 'org.yaml', name: 'snakeyaml', version: '1.8'
 }
 
 test {

src/main/deploy/robotconfig/example.yml

@@ -0,0 +1,74 @@
+---
+name: Competition BOT
+id: '123' # last year 00802F17DEE0 w
+
+# Defined subsystems for 
+subsystems:
+  drivetrain: 
+    - swerve: true
+    - tank: false
+  intake: false
+  shooter: false
+  arm: false
+
+# Below is from last year
+drivetrain:
+  # TRACK_WIDTH: 0.555
+  # WH:EEL_RADIUS: 0.0762
+  # ENCODER_RESOLUTION: 4096
+  # ENCODER_GEAR_RATIO: 1
+  # MOTOR_LEFT_MASTER_CAN_ID: 3
+  # MOTOR_RIGHT_MASTER_CAN_ID: 4
+  # MOTOR_LEFT_FOLLOWER_CAN_ID: 1
+  # MOTOR_RIGHT_FOLLOWER_CAN_ID: 2
+  # MOTOR_GEAR_RATIO: 8.45
+  # BALANCE_P: 0.05
+  # BALANCE_I: 0
+  # BALANCE_D: 0.03
+  # BALANCE_MAX_SPEED: 0.5
+  # BALANCE_MIN_DURATION: 1
+  # DISTANCE_P: 1
+  # DISTANCE_I: 0
+  # DISTANCE_D: 0.1
+  # DISTANCE_PID_TOLERANCE: 0.1
+  # STRAIGHT_P: 0.1
+  # STRAIGHT_I: 0
+  # STRAIGHT_D: 0
+  # ROTATE_P: 0.05
+  # ROTATE_I: 0
+  # ROTATE_D: 0
+  # ROTATE_PID_TOLERANCE: 5
+  # DOCK_MAX_SPEED_ON_GROUND: 1.5
+  # DOCK_MAX_SPEED_ON_RAMP: 0.5
+  # DOCK_ON_RAMP_DURATION_MIN: 0.2
+  # DOCK_LEVELING_OFF_DURATION_MIN: 0.2
+  # DOCK_RAMP_ROLL_MIN 10
+  # DOCK_RAMP_ROLL_MAX: 15
+  # DOCK_LEVELING_ROLL_MIN: 6
+
+sysid:
+  # MAX_SPEED: 3
+  # MAX_ANGULAR_SPEED: 4
+  # COMBINED_FEED_BACK_VELOCITY_P: 3.9725
+  # COMBINED_FEED_BACK_VELOCITY_I: 0
+  # COMBINED_FEED_BACK_VELOCITY_D: 0
+  # LEFT_FEED_BACK_VELOCITY_P: 3.7381
+  # LEFT_FEED_BACK_VELOCITY_I: 0
+  # LEFT_FEED_BACK_VELOCITY_D: 0
+  # RIGHT_FEED_BACK_VELOCITY_P: 3.7865
+  # RIGHT_FEED_BACK_VELOCITY_I: 0
+  # RIGHT_FEED_BACK_VELOCITY_D: 0
+
+  # FEED_FORWARD_LINEAR_S: 1.0842
+  # FEED_FORWARD_LINEAR_V: 2.3958
+  # FEED_FORWARD_LINEAR_A: 1.195
+  # LEFT_FEED_FORWARD_LINEAR_S: 1.0421
+  # LEFT_FEED_FORWARD_LINEAR_V: 2.3821
+  # LEFT_FEED_FORWARD_LINEAR_A: 0.56617
+  # RIGHT_FEED_FORWARD_LINEAR_S: 1.0946
+  # RIGHT_FEED_FORWARD_LINEAR_V: 2.404
+  # RIGHT_FEED_FORWARD_LINEAR_A: 0.6552
+
+  # FEED_FORWARD_ANGULAR_S: 1.0005
+  # FEED_FORWARD_ANGULAR_V: 3.0117
+  # FEED_FORWARD_ANGULAR_A: 2.9661

src/main/java/frc/robot/Robot.java

@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.utils.RobotConfig;
 // START: Setup AdvantageKit
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
@@ -20,6 +21,9 @@ public class Robot extends LoggedRobot {
 
   @Override
   public void robotInit() {
+
+    RobotConfig.loadConfig();
+
     // START: Setup AdvantageKit
 
     // Record build metadata generated by gversion

src/main/java/frc/robot/utils/RobotConfig.java

@@ -0,0 +1,82 @@
+package frc.robot.utils;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.InputStream;
+import java.util.Map;
+import org.yaml.snakeyaml.Yaml;
+
+public class RobotConfig {
+  public static Map<String, Object> loadConfig() {
+    try {
+      String robotConfigPath = getRobotConfigFilePath();
+
+      // Create an InputStream to read the YAML file
+      try {
+        InputStream input = new FileInputStream(robotConfigPath);
+        Yaml yaml = new Yaml();
+
+        // Parse the YAML file into a Map
+        Map<String, Object> configData = (Map<String, Object>) yaml.load(input);
+
+        // Access values from the Map
+        String robotName = (String) configData.get("name");
+        String robotId = (String) configData.get("id");
+
+        // Print the loaded robot config information
+        System.out.println("Loaded robot config: " + robotConfigPath);
+        System.out.println("Robot Name: " + robotName + " Id: " + robotId);
+
+        // Access subsystems if they exist This is more of a test to see if it loaded correctly
+        if (configData.containsKey("subsystems")) {
+          System.out.println("Subsystems: " + configData.get("subsystems"));
+        }
+
+        return configData;
+      } catch (Exception e) {
+      }
+    } catch (Exception e) {
+      e.printStackTrace();
+      System.out.println("Failed to load robot config. Robot will not function");
+    }
+    return null;
+  }
+
+  // get the config file path
+  private static String getRobotConfigFilePath() throws Exception {
+
+    String robotConfigFilePathPrefix = "robotconfig";
+    String robotUniqueId = getMacAddress();
+    String robotConfigFilePathSuffix = ".yml";
+
+    String filePath =
+        Filesystem.getDeployDirectory() // deploy folder
+            + File.separator
+            + robotConfigFilePathPrefix
+            + File.separator
+            + robotUniqueId
+            + robotConfigFilePathSuffix;
+
+    if (fileExists(filePath)) {
+      return filePath;
+    } else {
+      System.out.println("Can't find a valid robot config YAML file in: " + filePath);
+      throw new Exception("Can't find a valid robot config YAML file in: " + filePath);
+    }
+  }
+
+  // Placeholder macAddress, replace with new
+  private static String getMacAddress() {
+    return "example";
+  }
+
+  // Checks if the fill exist
+  private static boolean fileExists(String filePathString) {
+    File f = new File(filePathString);
+    if (f.isFile()) {
+      return true;
+    }
+    return false;
+  }
+}