Finish teleop swerve

.run/Build Robot.run.xml

@@ -48,7 +48,7 @@
       <option name="executionName" />
       <option name="externalProjectPath" value="$PROJECT_DIR$" />
       <option name="externalSystemIdString" value="GRADLE" />
-      <option name="scriptParameters" />
+      <option name="scriptParameters" value="--stacktrace" />
       <option name="taskDescriptions">
         <list />
       </option>

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2024",
-    "teamNumber": 2204
-}
+  "enableCppIntellisense": false,
+  "currentLanguage": "java",
+  "projectYear": "2024",
+  "teamNumber": 2204
+}

build.gradle

@@ -1,8 +1,11 @@
+import groovy.json.JsonSlurper
 
 plugins {
     id "java"
     id "org.jetbrains.kotlin.jvm" version "1.9.22"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "com.peterabeles.gversion" version "1.10.2"
+    id "com.diffplug.spotless" version "6.25.0"
     id "idea"
 }
 
@@ -52,6 +55,29 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+// Configuration for AdvantageKit
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -70,6 +96,9 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
+    def akitJson = new JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
+
     implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8"
 
     testImplementation platform("org.junit:junit-bom:5.10.1")
@@ -91,7 +120,11 @@ 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 {
+        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
@@ -127,4 +160,57 @@ idea {
         // Exclude the .vscode directory from indexing and search
         excludeDirs+=file(".vscode" )
     }
-}
+}
+
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "org.rambots"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Los_Angeles"
+    indent       = "  "
+}
+
+// Spotless formatting
+project.compileJava.dependsOn(spotlessApply)
+spotless {
+    java {
+        target fileTree(".") {
+            include "**/*.java"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree(".") {
+            include "**/*.gradle"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    json {
+        target fileTree(".") {
+            include "**/*.json"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        gson().indentWithSpaces(2)
+    }
+    format "misc", {
+        target fileTree(".") {
+            include "**/*.md", "**/.gitignore"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,98 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,12 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Auto Choices": "String Chooser",
+      "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/org/rambots/BuildConstants.java

@@ -0,0 +1,17 @@
+package org.rambots;
+
+/** Automatically generated file containing build version information. */
+public final class BuildConstants {
+  public static final String MAVEN_GROUP = "";
+  public static final String MAVEN_NAME = "frc-2024";
+  public static final String VERSION = "unspecified";
+  public static final int GIT_REVISION = 1;
+  public static final String GIT_SHA = "b55720df88c29f28dfcd9e76a0256378797c67ac";
+  public static final String GIT_DATE = "2024-01-12 08:28:13 PST";
+  public static final String GIT_BRANCH = "james/swerve";
+  public static final String BUILD_DATE = "2024-03-02 15:32:31 PST";
+  public static final long BUILD_UNIX_TIME = 1709422351326L;
+  public static final int DIRTY = 1;
+
+  private BuildConstants() {}
+}

src/main/java/org/rambots/Constants.java

@@ -0,0 +1,72 @@
+// Copyright 2021-2024 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package org.rambots;
+
+import edu.wpi.first.wpilibj.RobotBase;
+import org.rambots.util.Alert;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+  public static final int loopPeriodMs = 20;
+  private static RobotType robotType = RobotType.SIMBOT;
+  public static final boolean tuningMode = true;
+  public static final boolean characterizationMode = false;
+
+  public static RobotType getRobot() {
+    if (RobotBase.isReal() && robotType == RobotType.SIMBOT) {
+      new Alert("Invalid Robot Selected, using COMPBOT as default", Alert.AlertType.ERROR)
+          .set(true);
+      robotType = RobotType.COMPBOT;
+    }
+    return robotType;
+  }
+
+  public static Mode getMode() {
+    return switch (getRobot()) {
+      case COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+      case SIMBOT -> Mode.SIM;
+    };
+  }
+
+  public enum Mode {
+    /** Running on a real robot. */
+    REAL,
+
+    /** Running a physics simulator. */
+    SIM,
+
+    /** Replaying from a log file. */
+    REPLAY
+  }
+
+  public enum RobotType {
+    SIMBOT,
+    COMPBOT
+  }
+
+  /** Checks whether the robot the correct robot is selected when deploying. */
+  public static void main(String... args) {
+    if (robotType == RobotType.SIMBOT) {
+      System.err.println("Cannot deploy, invalid robot selected: " + robotType.toString());
+      System.exit(1);
+    }
+  }
+}