More ci stuff (#33)

* decent changes

* Update VisionSubsystem.java

* fancy switch statement bc im cool like that

* decent changes

* hi

* Delete .vscode directory

* pr things

* fix build and apply spotless

* docstrings

* fix typo

* Update src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java

Jacks change

Co-authored-by: Jack <85963782+JacksonElia@users.noreply.github.com>

* decent changes

* format

* Update TalonUtil.java

* sync changes

* fix build and test, add linting stuff

* i think this should work?

* ?

* haha

* rerun actions

* i gave up on that shiiiiiiiiiiiii

* format me thinks

* fix

* hgj

* things

* does this work?

* try this:

* bfdkjvls

* :(

* retry this

* copy whippy lib

---------

Co-authored-by: Jack <85963782+JacksonElia@users.noreply.github.com>

.github/workflows/build.yml

@@ -6,49 +6,43 @@ on:
 
 jobs:
   build:
-    name: Build
+    name: "Compile Java"
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-      - name: Grant execute permission
-        run: chmod +x gradlew
-      - name: Build robot code
-        run: ./gradlew build
+    - uses: actions/checkout@v4
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Compile robot code
+      run: ./gradlew compileJava
 
   test:
-    # This workflow contains a single job called "test"
-    name: "Test"
-    # The type of runner that the job will run on
+    name: "Test Java"
     runs-on: ubuntu-latest
-
-    # This grabs the WPILib docker container
     container: wpilib/roborio-cross-ubuntu:2024-22.04
-
-    # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: actions/checkout@v4
-    # Grant execute permission for gradlew
     - name: Grant execute permission for gradlew
       run: chmod +x gradlew
-    # Runs a single command using the runners shell
-    - name: Simulate and test robot code
-      run: ./gradlew simulateJava 
+    - name: Run tests on robot code
+      run: ./gradlew test -PrunTests
 
-  formate:
-    name: "Lint and Format Check"
-    # The type of runner that the job will run on
+  format:
+    name: "Check Format Java"
     runs-on: ubuntu-latest
-    # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
-      - name: Grant execute permission for gradlew
-        run: chmod +x gradlew
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 17
-      - run: ./gradlew spotlessCheck
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Fetch all history and metadata
+      run: |
+        git checkout -b pr
+        git branch -f main origin/main
+    - uses: actions/setup-java@v4
+      with:
+        java-version: 17
+        distribution: temurin
+    - name: Run formatter
+      run: ./gradlew spotlessCheck

src/main/java/frc/robot/extras/TalonUtil.java

@@ -0,0 +1,87 @@
+// moderately inspired by 254
+package frc.robot.extras;
+
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
+
+public class TalonUtil {
+
+  public static boolean applyAndCheckConfiguration(
+      TalonFX talon, TalonFXConfiguration config, double timeoutSeconds, int numTries) {
+    for (int i = 0; i < numTries; i++) {
+      if (checkErrorAndRetry(() -> talon.getConfigurator().apply(config, timeoutSeconds))) {
+        return true;
+      }
+    }
+    DriverStation.reportError(
+        "Failed to apply config for talon after " + numTries + " attempts", false);
+    return false;
+  }
+
+  public static boolean applyAndCheckConfiguration(
+      TalonFX talon, TalonFXConfiguration config, double timeoutMs) {
+    boolean result = applyAndCheckConfiguration(talon, config, timeoutMs, 5);
+    return result;
+  }
+
+  public enum StickyFault {
+    BootDuringEnable,
+    DeviceTemp,
+    ForwardHardLimit,
+    ForwardSoftLimit,
+    Hardware,
+    OverSupplyV,
+    ProcTemp,
+    ReverseHardLimit,
+    ReverseSoftLimit,
+    Undervoltage,
+    UnstableSupplyV
+  }
+
+  public static void checkStickyFaults(String motorName, TalonFX talon) {
+    boolean[] faults = new boolean[StickyFault.values().length];
+    faults[0] = talon.getStickyFault_BootDuringEnable().getValue();
+    faults[1] = talon.getStickyFault_DeviceTemp().getValue();
+    faults[2] = talon.getStickyFault_ForwardHardLimit().getValue();
+    faults[3] = talon.getStickyFault_ForwardSoftLimit().getValue();
+    faults[4] = talon.getStickyFault_Hardware().getValue();
+    faults[5] = talon.getStickyFault_OverSupplyV().getValue();
+    faults[6] = talon.getStickyFault_ProcTemp().getValue();
+    faults[7] = talon.getStickyFault_ReverseHardLimit().getValue();
+    faults[8] = talon.getStickyFault_ReverseSoftLimit().getValue();
+    faults[9] = talon.getStickyFault_Undervoltage().getValue();
+    faults[10] = talon.getStickyFault_UnstableSupplyV().getValue();
+
+    for (int i = 0; i < faults.length; i++) {
+      if (faults[i]) {
+        DriverStation.reportError(
+            motorName + ": Talon Fault! " + StickyFault.values()[i].toString(), false);
+      }
+    }
+
+    talon.clearStickyFaults();
+  }
+
+  public static boolean checkErrorAndRetry(Supplier<StatusCode> function, int numTries) {
+    StatusCode code = function.get();
+    int tries = 0;
+    while (code != StatusCode.OK && tries < numTries) {
+      DriverStation.reportWarning("Retrying CTRE Device Config " + code.getName(), false);
+      code = function.get();
+      tries++;
+    }
+    if (code != StatusCode.OK) {
+      DriverStation.reportError(
+          "Failed to execute phoenix pro api call after " + numTries + " attempts", false);
+      return false;
+    }
+    return true;
+  }
+
+  public static boolean checkErrorAndRetry(Supplier<StatusCode> function) {
+    return checkErrorAndRetry(function, 5);
+  }
+}

src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java

@@ -16,6 +16,7 @@
 import frc.robot.Constants.HardwareConstants;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.extras.SmarterDashboardRegistry;
+import frc.robot.extras.TalonUtil;
 
 public class ShooterSubsystem extends SubsystemBase {
   private final TalonFX leaderFlywheel;
@@ -42,7 +43,28 @@ public ShooterSubsystem() {
     velocityRequest = new VelocityVoltage(0);
     voltageRequest = new VoltageOut(0);
 
+    try {
+      configureTalons();
+    } catch (RuntimeException e) {
+      System.out.println("Failed to configure talons :(");
+    }
+
+    leaderVelocity = leaderFlywheel.getVelocity();
+    followerVelocity = followerFlywheel.getVelocity();
+
+    BaseStatusSignal.setUpdateFrequencyForAll(
+        HardwareConstants.SIGNAL_FREQUENCY, leaderVelocity, followerVelocity);
+    ParentDevice.optimizeBusUtilizationForAll(leaderFlywheel, rollerMotor, followerFlywheel);
+  }
+
+  private void configureTalons() throws RuntimeException {
     TalonFXConfiguration shooterConfig = new TalonFXConfiguration();
+    TalonUtil.checkErrorAndRetry(
+        () -> leaderFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
+    TalonUtil.checkErrorAndRetry(
+        () ->
+            followerFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
+
     shooterConfig.Slot0.kP = ShooterConstants.SHOOT_P;
     shooterConfig.Slot0.kI = ShooterConstants.SHOOT_I;
     shooterConfig.Slot0.kD = ShooterConstants.SHOOT_D;
@@ -58,21 +80,19 @@ public ShooterSubsystem() {
     shooterConfig.CurrentLimits.SupplyCurrentLimit = ShooterConstants.SHOOTER_SUPPLY_LIMIT;
     shooterConfig.CurrentLimits.SupplyCurrentLimitEnable = ShooterConstants.SHOOTER_SUPPLY_ENABLE;
 
-    leaderFlywheel.getConfigurator().apply(shooterConfig, HardwareConstants.TIMEOUT_S);
+    TalonUtil.applyAndCheckConfiguration(
+        leaderFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
     shooterConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    followerFlywheel.getConfigurator().apply(shooterConfig, HardwareConstants.TIMEOUT_S);
+    TalonUtil.applyAndCheckConfiguration(
+        followerFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
 
     TalonFXConfiguration rollerConfig = new TalonFXConfiguration();
+    TalonUtil.checkErrorAndRetry(
+        () -> leaderFlywheel.getConfigurator().refresh(rollerConfig, HardwareConstants.TIMEOUT_S));
+
     rollerConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     rollerConfig.MotorOutput.DutyCycleNeutralDeadband = HardwareConstants.MIN_FALCON_DEADBAND;
-    rollerMotor.getConfigurator().apply(rollerConfig, HardwareConstants.TIMEOUT_S);
-
-    leaderVelocity = leaderFlywheel.getVelocity();
-    followerVelocity = followerFlywheel.getVelocity();
-
-    BaseStatusSignal.setUpdateFrequencyForAll(
-        HardwareConstants.SIGNAL_FREQUENCY, leaderVelocity, followerVelocity);
-    ParentDevice.optimizeBusUtilizationForAll(leaderFlywheel, rollerMotor, followerFlywheel);
+    TalonUtil.applyAndCheckConfiguration(rollerMotor, rollerConfig, HardwareConstants.TIMEOUT_S);
   }
 
   /**

src/main/java/frc/robot/subsystems/swerve/SwerveModule.java

@@ -114,6 +114,7 @@ public SwerveModule(
 
     driveMotor.setPosition(0);
     turnMotor.setPosition(0);
+    driveMotor.optimizeBusUtilization();
 
     BaseStatusSignal.setUpdateFrequencyForAll(
         HardwareConstants.SIGNAL_FREQUENCY, turnEncoderPos, driveMotorPosition, driveMotorVelocity);