@horizon36596/zenith-cli 0.1.1

package/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Horizon (FTC 36596)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/NOTICE

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+Zenith
+Copyright (c) 2026 Horizon (FTC 36596)
+
+Zenith is licensed under the MIT License; see LICENSE.
+
+Third-party assets
+
+- BIOBUZZ field images (apps/web/public/fields/biobuzz/*.webp) by Team Juice 16236, from the r/FTC
+  post "BIOBUZZ custom field images (MeepMeep compatible)". Used with the credit the author asks for.
+
+Bundled fonts
+
+The following fonts are bundled in apps/web/public/fonts/. Each is licensed under the SIL Open Font
+License, Version 1.1. The full licence text ships next to each font file.
+
+- Jost, licensed under the SIL Open Font License 1.1 (jost-OFL.txt).
+- IBM Plex Sans, licensed under the SIL Open Font License 1.1 (ibm-plex-sans-OFL.txt).
+- JetBrains Mono, licensed under the SIL Open Font License 1.1 (jetbrains-mono-OFL.txt).

package/README.md

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+# @horizon36596/zenith-cli
+
+The `zenith` command for [Zenith](https://libraries.horizon36596.org/zenith/), the FTC autonomous
+planner by Horizon (FTC 36596). It validates, estimates, renders, generates code for, deploys and
+simulates the autos in a robot repository, with `--json` on every verb and no prompts, so a CI job
+or an agent can drive it.
+
+```
+npm install --save-dev @horizon36596/zenith-cli
+npx zenith --version
+npx zenith init
+npx zenith validate autos/*.auto.json
+```
+
+Requires Node 22 or newer. Documentation: https://libraries.horizon36596.org/zenith/. Licence: MIT.
+
+## Package reference
+
+The `zenith` command line tool: every verb an editor, a CI job, or an agent needs to work with a
+Zenith project without opening the web app. The docs site's CLI reference
+(https://libraries.horizon36596.org/zenith/cli-reference/) is the user-facing version of this file.
+
+### Install and run
+
+Inside this monorepo:
+
+```
+pnpm install
+pnpm --filter @horizon36596/zenith-cli build
+pnpm zenith -- <verb> [args]
+```
+
+`pnpm zenith` forwards the `--` separator pnpm inserts before `<verb>`; `main()` drops that one
+leading `--` before parsing, so flags after the verb (`--project`, `--json`, ...) work normally.
+
+Or, once built, `zenith` is the package's bin and can be run directly (`node packages/cli/dist/index.js`,
+or just `zenith` if the workspace's `node_modules/.bin` is on `PATH`).
+
+### Project resolution
+
+Every verb that needs a project looks for `zenith.json` in `--project <dir>` if given, otherwise by
+walking up from the current directory. An auto argument may be a path to a `.auto.json` file or its
+bare name inside `autosDir`.
+
+### Conventions every verb follows
+
+- `--json` on every verb prints machine-readable output instead of the human-readable text, and never
+  mixes the two.
+- No verb ever prompts. If stdin would be needed for a decision, the verb fails instead.
+- Exit codes are the same convention everywhere: **0** ok, **1** the auto has findings errors (a
+  validation or feasibility problem in the auto itself), **2** usage, IO, or a verb that depends on a
+  `@horizon36596/zenith-core` export not landed yet.
+- Every verb that calls a `@horizon36596/zenith-core` M1 export (`estimate`, `ledger`, `render`, `diff`) is real
+  as of this build; `src/coreGate.ts`'s `NotImplementedError` handling (`core M1 not landed yet:
+  ...` to stderr, or `{"error": "..."}` under `--json`, exit code 2) is a defensive fallback rather
+  than the common case, kept so a future gap still fails with a clear message instead of a stack
+  trace.
+- Every verb that needs season-specific rules (`validate`, `estimate`, `render`, `sim`, `propose`)
+  resolves them through `@horizon36596/zenith-seasons` from the project's `field.json`. When the field names no
+  season plugin, or one this build does not carry, the season-gated checks (`CAPACITY`,
+  `EMPTY_SHOT`, `MOUTH_LEADING`, `SWEEP_SPEED`, `START_ILLEGAL`, `LEGAL_APPROACH`, `TURRET_RANGE`)
+  and the ledger are simply absent rather than wrong; the verb still runs and prints a `warning:`
+  line to stderr (and a `seasonWarnings` array under `--json`) saying so.
+
+### Verbs
+
+#### `zenith validate <autos...> [--json] [--project <dir>]`
+
+Checks one or more `.auto.json` files against the schema and the feasibility rules. Prints a findings
+table (or JSON). Exit 1 if any file has an error-level finding.
+
+#### `zenith init [--command-library ivy|solverslib] [--json] [--force]`
+
+Writes a starter `zenith.json` and an `autos/` directory that validates, for a new project.
+`--command-library` writes `deploy.commandLibrary`; the value is read in any case and written
+lowercase. There is no default: without it the `deploy` section names no library, `init` prints a
+note, and `zenith codegen` refuses, as does `zenith deploy` once there is a `codegen` section, until
+`"ivy"` or `"solverslib"` is added.
+
+#### `zenith new <name> [--alliance RED|BLUE] [--json] [--force] [--project <dir>]`
+
+Writes a new `.auto.json` from a canonical skeleton.
+
+#### `zenith estimate <auto> [--json] [--explain] [--project <dir>]`
+
+Prints a per-step table (id, kind, nominal time, low-high band, strafe percentage, an unknown-time
+flag) and the total against the field's auto period. `--explain` also prints the assumptions behind
+the numbers (`estimate.explain`). Calls `@horizon36596/zenith-core`'s `estimate`.
+
+#### `zenith render <auto> (--svg <out> | --png <out>) [--alliance RED|BLUE] [--base <otherAuto>] [--json] [--project <dir>]`
+
+Draws the field, the path, findings and the ledger to SVG or PNG. PNG rendering goes through
+`@resvg/resvg-js` (a CLI-only dependency; `@horizon36596/zenith-core` stays pure and only produces SVG text).
+`--base` loads and validates a second auto for comparison; `@horizon36596/zenith-core`'s `render` does not yet take
+an overlay, so today `--base` is validated but not drawn, and the CLI says so on stderr rather than
+silently ignoring it.
+
+#### `zenith codegen <auto> [--json] [--project <dir>]`
+
+Writes the generated, read-only Java class described on the docs site's Robot runtime page
+("Generated Java") to `zenith.json`'s `codegen.dir/<package path>/<PascalName>Generated.java`. The header
+records the source file's sha256 (first 8 hex characters) so a stale generated file is easy to spot.
+Output is deterministic: the same auto always produces byte-identical Java. The class is written for
+the runtime `deploy.commandLibrary` names, `"ivy"` or `"solverslib"`. The key is required and has no
+default: without it, or without a `deploy` block, the verb exits 2 with the same message as
+`zenith deploy`.
+
+A path step from `"current"` is written as `DeferredPath.of(...)`, the call both runtimes' `AutoBuilder`
+makes, so it is built from the live pose when the step starts. Numbers that come from the path's
+length (a marker placed anywhere but the start, a heading shared out by arc length) stay the planned
+path's, and the generated method says so in a comment. `examples/starter/generated/` in the
+repository has the output for both libraries, and
+[Choosing a command library](https://libraries.horizon36596.org/zenith/command-libraries/) explains the
+differences.
+
+#### `zenith deploy [--dry-run] [--json] [--project <dir>]`
+
+Copies `autosDir/*.auto.json`, `waypoints.json`, `robot.json` and the field file into
+`zenith.json.deploy.dir`. When `zenith.json` has a `codegen` section, it also writes or refreshes a
+three-line `@Autonomous` stub per auto under `codegen.dir/<package>/generated/<PascalName>Auto.java`.
+Each stub extends `AutoFromFile` from the runtime `deploy.commandLibrary` names:
+`org.horizon36596.zenith.ivy` for `"ivy"` or `org.horizon36596.zenith.solverslib` for `"solverslib"`.
+The stubs are the only Java the verb writes, so the key is required, with no default, exactly when
+there is a `codegen` section; then, without it, the verb copies nothing, exits 2, and prints:
+
+```
+zenith: zenith.json does not say which command library your robot code uses, and Zenith does not pick one. Add "commandLibrary": "solverslib" or "commandLibrary": "ivy" to its "deploy" section. See https://libraries.horizon36596.org/zenith/command-libraries/.
+```
+
+With no `codegen` section it only copies, and needs no library. The first line of the output names the library
+(`command library: Ivy (org.horizon36596.zenith.ivy)`), and `--json` output carries it as
+`commandLibrary` (`null` when there is no `codegen` section and none is named). Stubs for autos that no longer exist are removed. An auto with a findings error is skipped (reported, not
+copied) but does not stop the other autos from deploying; overall exit code is 1 if anything was
+skipped. `--dry-run` lists every action (`copy:`, `write:`, `keep:`, `remove:`) without touching disk.
+
+#### `zenith diff <a> <b> [--json]`
+
+Prints the structural diff between two autos: added, removed, changed and moved steps, as a table or
+markdown-flavoured text (or as JSON under `--json`). Calls `@horizon36596/zenith-core`'s `diff`.
+
+#### `zenith sim <auto> [--open] [--timeout <seconds>] [--json] [--project <dir>]`
+
+Runs `zenith.json`'s `sim.command` (with `{auto}` substituted) through the shell, streaming its
+output; a non-zero exit or a missing trace file fails with exit 2 and the command's output tail on
+stderr. Reads the trace at `sim.trace` and prints estimate vs actual per step (nominal, actual, delta,
+and the largest cross-track distance between recorded poses and the planned path) plus a whole-run
+summary (structure contacts, launches, tips, pieces held at the end). `--open` also renders the plan
+to `autosDir/.renders/<name>.sim.svg` and prints its path, without spawning an image viewer.
+
+#### `zenith calibrate [--traces <dir>] [--write] [--date <date>] [--json] [--project <dir>]`
+
+Pairs every path step's recorded duration (from every `*.trace.json` in `--traces`, or
+`traces/`, or `sim.trace`'s directory) against the plan's geometry, and fits `accelInPerS2`, `settleS`,
+and a per-heading-mode scale by a grid search over the trapezoidal time model
+(the docs site's Simulation page). Reports the residual band left after both
+corrections. `--write` updates `robot.json`'s `kinematics.accelInPerS2` and `kinematics.settleS` with
+provenance `CALIBRATED FROM SIM <date> (<n> steps)`; the per-mode scale has no field in
+`@horizon36596/zenith-schema` yet, so it is reported but not persisted. The CLI reads the clock for the provenance
+date (or takes `--date`); `@horizon36596/zenith-core`'s fit itself never does.
+
+#### `zenith propose <auto> [--dry-run] [--base <branch>] [--json] [--project <dir>]`
+
+The CLI half of proposing an auto change as a pull request (the docs site's GitHub page). Only `--dry-run` is implemented
+here: it validates the auto (a findings error blocks with exit 1), renders an SVG to
+`autosDir/.renders/<name>.svg`, and prints the PR body — `@horizon36596/zenith-core`'s `prBody`, given the local
+render path directly as `renderUrl` since a `--dry-run` run has made no commit for a real GitHub URL
+to point at — to stdout. Without `--dry-run` it prints "GitHub mode: use the web app or pass
+--dry-run" and exits 2, because opening an actual pull request is `@horizon36596/zenith-github`'s job, which this
+package does not depend on.
+
+`zenith diff` and `zenith propose --dry-run` both format through `@horizon36596/zenith-core`'s own
+`diffToMarkdown`/`prBody` (this package carries no separate copy of either), so a diff printed by the
+CLI and a PR body opened by `@horizon36596/zenith-github` read the same way for the same inputs.
+
+### Driving it with `--json`
+
+Every verb above is safe for an agent or a script to call directly: pass `--json`, read stdout as one
+JSON document, and use the exit code to decide whether to keep going.
+
+- Check the exit code first. `0` means the JSON is the successful result. `1` means the auto has a
+  findings error; the JSON is a findings list, not the thing you asked for. `2` means something
+  prevented the verb from running at all (bad usage, a missing project, an IO error, or a `@horizon36596/zenith-core`
+  export not landed yet); the JSON (where the verb prints one on `2`) is `{"error": "..."}`.
+- Never parse the human-readable (non-`--json`) output. It is formatted for a terminal and can change
+  wording between versions without notice; the JSON shape is the contract.
+- `zenith estimate <auto> --json` and `zenith sim <auto> --json` are the two verbs most useful for an
+  agent checking its own work after editing an auto: estimate answers "does this still fit the auto
+  period", and sim (once a trace exists) answers "did the robot actually do what the plan said".
+- `zenith propose <auto> --dry-run --json` is the one to call before asking a human to open a real pull
+  request: it fails loudly (exit 1) if the auto does not validate, and otherwise hands back the exact
+  PR body text under `body` and the render path under `render`.
+- A verb that depends on a `@horizon36596/zenith-core` M1 export not yet landed in this checkout (`estimate`,
+  `ledger`, `render`, `diff`) exits 2 with `{"error": "core M1 not landed yet: ..."}` rather than a
+  stack trace, so a script can detect "not ready yet" and retry later instead of treating it as its own
+  bug.
+
+### Tests
+
+```
+pnpm --filter @horizon36596/zenith-cli test
+```
+
+Each verb has a test file next to its command module under `src/commands/`, plus tests for the pure
+helpers (`src/javaCodegen.ts`, `src/calibrateFit.ts`, `src/traceReport.ts`, `src/format/`). Tests for
+verbs that call into a `@horizon36596/zenith-core` M1 export check both branches - the real result once that export
+has landed, and the `core M1 not landed yet` gate message before it has - so the suite passes and stays
+meaningful throughout M1, not just at the end of it.

package/dist/autoLoad.d.ts

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+import { type Finding, type Plan } from "@horizon36596/zenith-core";
+import { type Auto, type Field, type Robot } from "@horizon36596/zenith-schema";
+import { type Project } from "./project.js";
+/** One auto file, parsed, resolved, planned and checked, ready for a verb to use. */
+export interface LoadedAuto {
+    path: string;
+    auto: Auto;
+    robot: Robot;
+    field: Field;
+    plan: Plan;
+    /** Every finding `check()` raised, schema problems included. */
+    findings: Finding[];
+    /**
+     * Full sentences from `@horizon36596/zenith-seasons` when `field.json` names a season plugin this build does
+     * not carry (or none at all): the routine still plans and estimates, but every season-dependent
+     * check and ledger row is absent, and a caller should say so rather than stay silent about it.
+     */
+    seasonWarnings: string[];
+}
+export type LoadAutoResult = {
+    ok: true;
+    loaded: LoadedAuto;
+} | {
+    ok: false;
+    path: string;
+    findings: Finding[];
+};
+/**
+ * `auto.name` is substituted into a shell command (`zenith sim`) and into filesystem paths
+ * (`zenith sim --open`, `zenith propose`) elsewhere in this package. Constraining it here, at the
+ * one place every verb loads an auto, means every one of those call sites can use the value without
+ * re-checking it: no shell metacharacter, path separator or ".." segment can ever reach them
+ * through `auto.name`.
+ */
+export declare const AUTO_NAME_PATTERN: RegExp;
+export declare function assertValidAutoName(name: string): void;
+/**
+ * Turns a verb's `<auto>` argument into a file path: a path that exists as given, or a bare name
+ * resolved against the project's `autosDir`. Falls back to the given path so a bad argument still
+ * fails with a plain "cannot read" message rather than a confusing one about the autos directory.
+ */
+export declare function resolveAutoPath(cwd: string, project: Project, autoArg: string): string;
+/**
+ * A schema issue's `path` (e.g. `["steps", 4, "segments", 0, "control"]`) names a JSON location,
+ * not a step id, so a naive `path.join(".")` used as `Finding.stepId` sends `selectStep` nowhere
+ * an agent or the editor can act on (finding 26). This walks the raw (unvalidated) JSON back along
+ * the issue's path, remembering the deepest `steps`/`then`/`else` array index it passes through,
+ * and returns that step's own `id` when it has one, or its positional id (`step<n>`) otherwise —
+ * the same convention `@horizon36596/zenith-core`'s `effectiveId` uses for a top-level, unnamed step.
+ */
+export declare function nearestStepId(rawJson: unknown, path: readonly (string | number)[]): string;
+/** Parses, resolves, plans and checks one auto file. Never throws; schema failures come back as findings. */
+export declare function loadAutoAndPlan(path: string, project: Project): LoadAutoResult;
+//# sourceMappingURL=autoLoad.d.ts.map

package/dist/autoLoad.d.ts.map

@@ -0,0 +1 @@
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package/dist/autoLoad.js

@@ -0,0 +1,139 @@
+import { existsSync } from "node:fs";
+import { isAbsolute, join, resolve as resolvePath } from "node:path";
+import { check, estimate, loadAuto, loadField, loadRobot, plan, resolve } from "@horizon36596/zenith-core";
+import { resolveSeason } from "@horizon36596/zenith-seasons";
+import { SchemaError } from "@horizon36596/zenith-schema";
+import { readJsonFile } from "./project.js";
+const schemaFinding = (stepId, message) => ({
+    severity: "error",
+    stepId,
+    code: "SCHEMA",
+    message,
+});
+/**
+ * `auto.name` is substituted into a shell command (`zenith sim`) and into filesystem paths
+ * (`zenith sim --open`, `zenith propose`) elsewhere in this package. Constraining it here, at the
+ * one place every verb loads an auto, means every one of those call sites can use the value without
+ * re-checking it: no shell metacharacter, path separator or ".." segment can ever reach them
+ * through `auto.name`.
+ */
+export const AUTO_NAME_PATTERN = /^[A-Za-z0-9._-]+$/;
+export function assertValidAutoName(name) {
+    if (!AUTO_NAME_PATTERN.test(name)) {
+        throw new Error(`Invalid auto file:\n  name: must match ${AUTO_NAME_PATTERN.source} (letters, digits, ".", "_", "-" only); got ${JSON.stringify(name)}.`);
+    }
+}
+/**
+ * An auto may name its own robot or field file; when it does, that file wins over the link file's,
+ * and a broken override is a finding rather than a crash. Mirrors `commands/validate.ts`'s
+ * `override`, kept separate so this module has no dependency on that command.
+ */
+function override(project, path, load, fallback, findings) {
+    if (path === undefined)
+        return fallback;
+    const full = isAbsolute(path) ? path : join(project.root, path);
+    try {
+        return load(readJsonFile(full));
+    }
+    catch (error) {
+        findings.push(schemaFinding("(file)", `Cannot use ${path}: ${error.message.split("\n")[0] ?? ""}`));
+        return fallback;
+    }
+}
+/**
+ * Turns a verb's `<auto>` argument into a file path: a path that exists as given, or a bare name
+ * resolved against the project's `autosDir`. Falls back to the given path so a bad argument still
+ * fails with a plain "cannot read" message rather than a confusing one about the autos directory.
+ */
+export function resolveAutoPath(cwd, project, autoArg) {
+    const direct = isAbsolute(autoArg) ? autoArg : resolvePath(cwd, autoArg);
+    if (existsSync(direct))
+        return direct;
+    // A path (as opposed to a bare name) may be meant relative to the project root rather than the
+    // working directory, e.g. `--project examples/starter` paired with `autos/x.auto.json` when the
+    // shell's cwd is the repository root, not the project.
+    if (!isAbsolute(autoArg)) {
+        const inProject = join(project.root, autoArg);
+        if (inProject !== direct && existsSync(inProject))
+            return inProject;
+    }
+    const byName = join(project.root, project.link.autosDir, `${autoArg}.auto.json`);
+    if (existsSync(byName))
+        return byName;
+    return direct;
+}
+/**
+ * A schema issue's `path` (e.g. `["steps", 4, "segments", 0, "control"]`) names a JSON location,
+ * not a step id, so a naive `path.join(".")` used as `Finding.stepId` sends `selectStep` nowhere
+ * an agent or the editor can act on (finding 26). This walks the raw (unvalidated) JSON back along
+ * the issue's path, remembering the deepest `steps`/`then`/`else` array index it passes through,
+ * and returns that step's own `id` when it has one, or its positional id (`step<n>`) otherwise —
+ * the same convention `@horizon36596/zenith-core`'s `effectiveId` uses for a top-level, unnamed step.
+ */
+export function nearestStepId(rawJson, path) {
+    let node = rawJson;
+    let lastStep;
+    let lastIndex = -1;
+    const stepListKeys = new Set(["steps", "then", "else"]);
+    for (let i = 0; i < path.length; i += 1) {
+        const key = path[i];
+        if (node === null || typeof node !== "object")
+            break;
+        const next = Array.isArray(node)
+            ? node[key]
+            : node[key];
+        if (typeof key === "string" && stepListKeys.has(key) && typeof path[i + 1] === "number") {
+            const idx = path[i + 1];
+            if (Array.isArray(next) && idx >= 0 && idx < next.length) {
+                lastStep = next[idx];
+                lastIndex = idx;
+            }
+        }
+        node = next;
+    }
+    if (lastStep !== undefined && lastStep !== null && typeof lastStep === "object") {
+        const id = lastStep.id;
+        if (typeof id === "string" && id.length > 0)
+            return id;
+    }
+    return lastIndex >= 0 ? `step${String(lastIndex + 1)}` : "(file)";
+}
+/** Parses, resolves, plans and checks one auto file. Never throws; schema failures come back as findings. */
+export function loadAutoAndPlan(path, project) {
+    let json;
+    try {
+        json = readJsonFile(path);
+    }
+    catch (error) {
+        return { ok: false, path, findings: [schemaFinding("(file)", error.message)] };
+    }
+    try {
+        const auto = loadAuto(json);
+        assertValidAutoName(auto.name);
+        const findings = [];
+        const robot = override(project, auto.robot, loadRobot, project.robot, findings);
+        const field = override(project, auto.field, loadField, project.field, findings);
+        const planned = plan(resolve(auto, project.waypoints), robot, field);
+        const season = resolveSeason(field);
+        findings.push(...check(planned, estimate(planned, robot), robot, field, season.rules));
+        return {
+            ok: true,
+            loaded: { path, auto, robot, field, plan: planned, findings, seasonWarnings: [...season.warnings] },
+        };
+    }
+    catch (error) {
+        if (error instanceof SchemaError) {
+            return {
+                ok: false,
+                path,
+                findings: error.issues.map((issue) => schemaFinding(issue.path.length === 0 ? "(file)" : nearestStepId(json, issue.path), `${issue.path.join(".")}: ${issue.message}`)),
+            };
+        }
+        return {
+            ok: false,
+            path,
+            findings: [schemaFinding("(file)", error instanceof Error ? error.message : String(error))],
+        };
+    }
+}
+//# sourceMappingURL=autoLoad.js.map

package/dist/autoLoad.js.map

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package/dist/calibrateFit.d.ts

@@ -0,0 +1,38 @@
+/**
+ * `zenith calibrate`'s fit (site/docs/simulation.md): pairs a trace's
+ * recorded step durations against the plan's geometry and fits the free parameters of the time
+ * model - `accel`, `settleS`, and a per
+ * heading-mode scale. Pure: no clock, no randomness, so the same samples always fit the same
+ * numbers and a test can assert on them exactly.
+ *
+ * The fit is deliberately simple rather than the full two-pass velocity profile `core.estimate`
+ * will run once M1 lands: a symmetric trapezoidal accelerate/cruise/decelerate model against a
+ * fixed cruise speed (the robot's own measured `maxForwardVelInPerS`), searched on a coarse grid
+ * over `accel` and `settleS` (the spec allows "simple grid or closed form"). The per-mode scale
+ * then absorbs whatever the trapezoid model does not capture for a `constant` or `linear` heading
+ * leg, which behaves more like a strafe. The residual band is what is left after both corrections,
+ * reported as the fraction the estimate should still expect to be wrong by.
+ */
+export interface CalibrationSample {
+    stepId: string;
+    /** The path step's heading mode, or "none" for a step this fit does not otherwise use. */
+    headingMode: string;
+    lengthIn: number;
+    actualS: number;
+}
+export type ModeScale = Record<string, number>;
+export interface CalibrationResult {
+    accelInPerS2: number;
+    settleS: number;
+    scaleByMode: ModeScale;
+    /** The residual band as fractions of the actual duration, e.g. -0.12 to 0.15. Zero when there are
+     * no samples to measure a residual from. */
+    residualLowFraction: number;
+    residualHighFraction: number;
+    sampleCount: number;
+}
+/** A symmetric trapezoid: accelerate to `cruiseInPerS` (or to a lower peak on a short leg), cruise,
+ * decelerate at the same rate, then add the settle time. */
+export declare function predictTravelS(lengthIn: number, cruiseInPerS: number, accelInPerS2: number, settleS: number): number;
+export declare function fitCalibration(samples: readonly CalibrationSample[], maxForwardVelInPerS: number): CalibrationResult;
+//# sourceMappingURL=calibrateFit.d.ts.map

package/dist/calibrateFit.d.ts.map

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package/dist/calibrateFit.js

@@ -0,0 +1,69 @@
+const ACCEL_GRID = { minInPerS2: 10, maxInPerS2: 220, stepInPerS2: 5 };
+const SETTLE_GRID = { minS: 0, maxS: 1, stepS: 0.05 };
+/** A symmetric trapezoid: accelerate to `cruiseInPerS` (or to a lower peak on a short leg), cruise,
+ * decelerate at the same rate, then add the settle time. */
+export function predictTravelS(lengthIn, cruiseInPerS, accelInPerS2, settleS) {
+    if (lengthIn <= 0 || cruiseInPerS <= 0 || accelInPerS2 <= 0)
+        return settleS;
+    const accelDistanceIn = (cruiseInPerS * cruiseInPerS) / (2 * accelInPerS2);
+    if (2 * accelDistanceIn <= lengthIn) {
+        const cruiseS = (lengthIn - 2 * accelDistanceIn) / cruiseInPerS;
+        return 2 * (cruiseInPerS / accelInPerS2) + cruiseS + settleS;
+    }
+    const peakInPerS = Math.sqrt(accelInPerS2 * lengthIn);
+    return (2 * peakInPerS) / accelInPerS2 + settleS;
+}
+function sumSquaredError(samples, cruiseInPerS, accelInPerS2, settleS) {
+    let error = 0;
+    for (const sample of samples) {
+        const predicted = predictTravelS(sample.lengthIn, cruiseInPerS, accelInPerS2, settleS);
+        const residual = predicted - sample.actualS;
+        error += residual * residual;
+    }
+    return error;
+}
+export function fitCalibration(samples, maxForwardVelInPerS) {
+    const usable = samples.filter((sample) => sample.lengthIn > 0 && sample.actualS > 0);
+    if (usable.length === 0) {
+        return { accelInPerS2: 0, settleS: 0, scaleByMode: {}, residualLowFraction: 0, residualHighFraction: 0, sampleCount: 0 };
+    }
+    let bestAccel = ACCEL_GRID.minInPerS2;
+    let bestSettle = SETTLE_GRID.minS;
+    let bestError = Number.POSITIVE_INFINITY;
+    for (let accel = ACCEL_GRID.minInPerS2; accel <= ACCEL_GRID.maxInPerS2; accel += ACCEL_GRID.stepInPerS2) {
+        for (let settle = SETTLE_GRID.minS; settle <= SETTLE_GRID.maxS; settle += SETTLE_GRID.stepS) {
+            const error = sumSquaredError(usable, maxForwardVelInPerS, accel, settle);
+            if (error < bestError) {
+                bestError = error;
+                bestAccel = accel;
+                bestSettle = settle;
+            }
+        }
+    }
+    const ratiosByMode = new Map();
+    for (const sample of usable) {
+        const predicted = predictTravelS(sample.lengthIn, maxForwardVelInPerS, bestAccel, bestSettle);
+        const ratio = predicted === 0 ? 1 : sample.actualS / predicted;
+        const list = ratiosByMode.get(sample.headingMode) ?? [];
+        list.push(ratio);
+        ratiosByMode.set(sample.headingMode, list);
+    }
+    const scaleByMode = {};
+    for (const [mode, ratios] of ratiosByMode) {
+        scaleByMode[mode] = ratios.reduce((sum, ratio) => sum + ratio, 0) / ratios.length;
+    }
+    const residualFractions = usable.map((sample) => {
+        const scale = scaleByMode[sample.headingMode] ?? 1;
+        const predicted = predictTravelS(sample.lengthIn, maxForwardVelInPerS, bestAccel, bestSettle) * scale;
+        return (predicted - sample.actualS) / sample.actualS;
+    });
+    return {
+        accelInPerS2: bestAccel,
+        settleS: bestSettle,
+        scaleByMode,
+        residualLowFraction: Math.min(0, ...residualFractions),
+        residualHighFraction: Math.max(0, ...residualFractions),
+        sampleCount: usable.length,
+    };
+}
+//# sourceMappingURL=calibrateFit.js.map

package/dist/calibrateFit.js.map

@@ -0,0 +1 @@
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package/dist/commandLibrary.d.ts

@@ -0,0 +1,19 @@
+import type { Link } from "@horizon36596/zenith-schema";
+/**
+ * The command library the robot runtime builds on, from `zenith.json` `deploy.commandLibrary`
+ * (site/docs/command-libraries.md). Neither library is a default: every command that writes Java
+ * refuses until the project names one.
+ */
+export type CommandLibrary = "solverslib" | "ivy";
+/** Both libraries, in the order Zenith lists them. Neither is a default. */
+export declare const LIBRARIES: readonly CommandLibrary[];
+/** The Java package each library's runtime classes live in. */
+export declare const RUNTIME_PACKAGE: Readonly<Record<CommandLibrary, string>>;
+/** The name a person reads, for CLI output and the desktop deploy preview. */
+export declare const LIBRARY_LABEL: Readonly<Record<CommandLibrary, string>>;
+/**
+ * @returns the project's command library
+ * @throws ProjectError when `zenith.json` does not name one; Zenith never picks one for a team
+ */
+export declare function commandLibraryOf(link: Link): CommandLibrary;
+//# sourceMappingURL=commandLibrary.d.ts.map

package/dist/commandLibrary.d.ts.map

@@ -0,0 +1 @@
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package/dist/commandLibrary.js

@@ -0,0 +1,27 @@
+import { ProjectError } from "./project.js";
+/** Both libraries, in the order Zenith lists them. Neither is a default. */
+export const LIBRARIES = ["solverslib", "ivy"];
+/** The Java package each library's runtime classes live in. */
+export const RUNTIME_PACKAGE = {
+    solverslib: "org.horizon36596.zenith.solverslib",
+    ivy: "org.horizon36596.zenith.ivy",
+};
+/** The name a person reads, for CLI output and the desktop deploy preview. */
+export const LIBRARY_LABEL = {
+    solverslib: "SolversLib",
+    ivy: "Ivy",
+};
+/**
+ * @returns the project's command library
+ * @throws ProjectError when `zenith.json` does not name one; Zenith never picks one for a team
+ */
+export function commandLibraryOf(link) {
+    const library = link.deploy?.commandLibrary;
+    if (library === undefined) {
+        throw new ProjectError('zenith.json does not say which command library your robot code uses, and Zenith does not pick one. ' +
+            'Add "commandLibrary": "solverslib" or "commandLibrary": "ivy" to its "deploy" section. ' +
+            "See https://libraries.horizon36596.org/zenith/command-libraries/.");
+    }
+    return library;
+}
+//# sourceMappingURL=commandLibrary.js.map

package/dist/commandLibrary.js.map

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