sync

README.md

@@ -1,6 +1,6 @@
 [![Build](https://github.com/TitaniumTigers4829/aquila-robot-code-2024/actions/workflows/build.yml/badge.svg)](https://github.com/TitaniumTigers4829/aquila-robot-code-2024/actions/workflows/build.yml)
 
-Robot code for FRC team 4829 The Titanium Tigers 2024 robot Aquila. 
+Robot code for FRC team 4829 The Titanium Tigers 2024 robot Aquila.
 \
 \
 Includes code for:

build.gradle

@@ -1,43 +1,43 @@
 plugins {
-    id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-    id 'com.diffplug.spotless' version '6.25.0'
+	id "java"
+	id "edu.wpi.first.GradleRIO" version "2024.3.2"
+	id 'com.diffplug.spotless' version '6.25.0'
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
 }
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
+	targets {
+		roborio(getTargetTypeClass('RoboRIO')) {
+			// Team number is loaded either from the .wpilib/wpilib_preferences.json
+			// or from command line. If not found an exception will be thrown.
+			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
+			// want to store a team number in this file.
+			team = project.frc.getTeamNumber()
+			debug = project.frc.getDebugOrDefault(false)
+
+			artifacts {
+				// First part is artifact name, 2nd is artifact type
+				// getTargetTypeClass is a shortcut to get the class type using a string
+
+				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+				}
+
+				// Static files artifact
+				frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+					files = project.fileTree('src/main/deploy')
+					directory = '/home/lvuser/deploy'
+				}
+			}
+		}
+	}
 }
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
@@ -50,32 +50,32 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
-    implementation wpi.java.deps.wpilib()
-    implementation wpi.java.vendor.java()
+	implementation wpi.java.deps.wpilib()
+	implementation wpi.java.vendor.java()
 
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+	roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+	roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+	roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+	roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
-    simulationDebug wpi.sim.enableDebug()
+	nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+	nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+	simulationDebug wpi.sim.enableDebug()
 
-    implementation 'gov.nist.math:jama:1.0.3'
+	implementation 'gov.nist.math:jama:1.0.3'
 
-    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    simulationRelease wpi.sim.enableRelease()
+	nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+	simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.1'
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+	testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.1'
 }
 
 test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -86,14 +86,14 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from {
-        configurations.runtimeClasspath.collect {
-            it.isDirectory() ? it : zipTree(it)
-        }
-    }
-    from sourceSets.main.allSource
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+	from {
+		configurations.runtimeClasspath.collect {
+			it.isDirectory() ? it : zipTree(it)
+		}
+	}
+	from sourceSets.main.allSource
+	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+	duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 // Configure jar and deploy tasks
@@ -103,46 +103,46 @@ wpi.java.configureTestTasks(test)
 
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
-    options.compilerArgs.add '-XDstringConcat=inline'
+	options.compilerArgs.add '-XDstringConcat=inline'
 }
 
 // Spotless formatting
 project.compileJava.dependsOn(spotlessApply)
 spotless {
-   java {
-      target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
-      }
-      toggleOffOn()
-      removeUnusedImports()
-      trimTrailingWhitespace()
-      endWithNewline()
-   }
-   groovyGradle {
-      target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**'
-      }
-      greclipse()
-      trimTrailingWhitespace()
-      endWithNewline()
-   }
-   format 'xml', {
-      target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**'
-      }
-      eclipseWtp('xml')
-      trimTrailingWhitespace()
-      endWithNewline()
-   }
-   format 'misc', {
-      target fileTree('.') {
-            include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
-      }
-      trimTrailingWhitespace()
-      endWithNewline()
-   }
+	java {
+		target fileTree('.') {
+			include '**/*.java'
+			exclude '**/build/**', '**/build-*/**'
+		}
+		toggleOffOn()
+		removeUnusedImports()
+		trimTrailingWhitespace()
+		endWithNewline()
+	}
+	groovyGradle {
+		target fileTree('.') {
+			include '**/*.gradle'
+			exclude '**/build/**', '**/build-*/**'
+		}
+		greclipse()
+		trimTrailingWhitespace()
+		endWithNewline()
+	}
+	format 'xml', {
+		target fileTree('.') {
+			include '**/*.xml'
+			exclude '**/build/**', '**/build-*/**'
+		}
+		eclipseWtp('xml')
+		trimTrailingWhitespace()
+		endWithNewline()
+	}
+	format 'misc', {
+		target fileTree('.') {
+			include '**/*.md', '**/.gitignore'
+			exclude '**/build/**', '**/build-*/**'
+		}
+		trimTrailingWhitespace()
+		endWithNewline()
+	}
 }

settings.gradle

@@ -1,29 +1,29 @@
 import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
-    repositories {
-        mavenLocal()
-        gradlePluginPortal()
-        String frcYear = '2024'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name 'frcHome'
-            url frcHomeMaven
-        }
-    }
+	repositories {
+		mavenLocal()
+		gradlePluginPortal()
+		String frcYear = '2024'
+		File frcHome
+		if (OperatingSystem.current().isWindows()) {
+			String publicFolder = System.getenv('PUBLIC')
+			if (publicFolder == null) {
+				publicFolder = "C:\\Users\\Public"
+			}
+			def homeRoot = new File(publicFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		} else {
+			def userFolder = System.getProperty("user.home")
+			def homeRoot = new File(userFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		}
+		def frcHomeMaven = new File(frcHome, 'maven')
+		maven {
+			name 'frcHome'
+			url frcHomeMaven
+		}
+	}
 }
 
 Properties props = System.getProperties();

src/main/java/frc/robot/RobotContainer.java

@@ -206,7 +206,7 @@ private void configureButtonBindings() {
                     new Pose2d(
                         driveSubsystem.getPose().getX(),
                         driveSubsystem.getPose().getY(),
-                        Rotation2d.fromDegrees(driveSubsystem.getAllianceAngleOffset()))))); 
+                        Rotation2d.fromDegrees(driveSubsystem.getAllianceAngleOffset())))));
     // // Reset robot odometry based on vision pose measurement from april tags
     driverLeftDirectionPad.onTrue(
         new InstantCommand(() -> driveSubsystem.resetOdometry(visionSubsystem.getLastSeenPose())));

src/main/java/frc/robot/commands/auto/BlueFiveNote.java

@@ -28,7 +28,7 @@ public BlueFiveNote(
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
       new InstantCommand(()->driveSubsystem.resetOdometry(new Pose2d(1.3384751922607414, 5.519354820251465, Rotation2d.fromRadians(0)))),
-      new SpinUpForSpeakerAuto(shooterSubsystem, pivotSubsystem, null).withTimeout(0.01),  
+      new SpinUpForSpeakerAuto(shooterSubsystem, pivotSubsystem, null).withTimeout(0.01),
       new FollowChoreoTrajectory(driveSubsystem, visionSubsystem, "blue to shoot pos", false),
       new ShootSpeakerAuto(driveSubsystem, shooterSubsystem, pivotSubsystem, visionSubsystem, ledSubsystem).withTimeout(1.3),
       new ParallelCommandGroup(

src/main/java/frc/robot/commands/auto/IntakeAuto.java

@@ -21,7 +21,7 @@ public class IntakeAuto extends Command {
   private final ShooterSubsystem shooterSubsystem;
   private final LEDSubsystem leds;
   private boolean intakeSensorLatch;
-  
+
   public IntakeAuto(IntakeSubsystem intakeSubsystem, PivotSubsystem pivotSubsystem, ShooterSubsystem shooterSubsystem, LEDSubsystem leds) {
     this.intakeSubsystem = intakeSubsystem;
     this.pivotSubsystem = pivotSubsystem;
@@ -40,7 +40,7 @@ public void initialize() {
     // If it were done the way it was before this, they would briefly flash yellow before going back to red
     leds.setProcess(LEDProcess.INTAKE);
   }
-  
+
   @Override
   public void execute() {
     pivotSubsystem.setPivotAngle(PivotConstants.PIVOT_INTAKE_ANGLE);

src/main/java/frc/robot/commands/auto/RedFiveNote.java

@@ -28,7 +28,7 @@ public RedFiveNote(
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
       new InstantCommand(()->driveSubsystem.resetOdometry(new Pose2d(15.215974807739258, 5.519354820251465, Rotation2d.fromRadians(3.141592653589793)))),
-      new SpinUpForSpeakerAuto(shooterSubsystem, pivotSubsystem, null).withTimeout(0.01),  
+      new SpinUpForSpeakerAuto(shooterSubsystem, pivotSubsystem, null).withTimeout(0.01),
       new FollowChoreoTrajectory(driveSubsystem, visionSubsystem, "red to shoot pos", false),
       new ShootSpeakerAuto(driveSubsystem, shooterSubsystem, pivotSubsystem, visionSubsystem, ledSubsystem).withTimeout(1.3),
       new ParallelCommandGroup(

src/main/java/frc/robot/commands/auto/RedSixNote.java

@@ -56,4 +56,4 @@ public RedSixNote(DriveSubsystem driveSubsystem, VisionSubsystem visionSubsystem
       new StopShooterAndIntake(intakeSubsystem, pivotSubsystem, shooterSubsystem)
     );
   }
-}
+}

src/main/java/frc/robot/commands/auto/ShootSpeakerAuto.java

@@ -90,9 +90,9 @@ public void execute() {
     double turnOutput = deadband(turnController.calculate(headingError, 0));
 
     driveSubsystem.drive(
-      0, 
-      0, 
-      turnOutput, 
+      0,
+      0,
+      turnOutput,
       false
     );
 

src/main/java/frc/robot/commands/auto/SpinUpForSpeakerAuto.java

@@ -28,14 +28,14 @@ public SpinUpForSpeakerAuto(ShooterSubsystem shooterSubsystem, PivotSubsystem pi
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-   
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     super.execute();
-    
+
     shooterSubsystem.setRPM(ShooterConstants.SHOOT_SPEAKER_RPM * 0.5);
     // if we are ready to shoot:
     if (isReadyToShoot()) {