Merge pull request #7 from blair-robot-project/new-subsystems

Final DCMP changes
blair-robot-project · Apr 11, 2023 · ecbaff3 · ecbaff3
2 parents 0090cfa + aa02e90
commit ecbaff3
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Showing 110 changed files with 101,662 additions and 65,848 deletions.
diff --git a/.editorconfig b/.editorconfig
@@ -1,4 +1,4 @@
 [{*.kt,*.kts}]
 indent_size=2
 max_line_length=200
-ktlint_no-wildcard-imports = disabled
+ij_kotlin_packages_to_use_import_on_demand = unset
diff --git a/.github/workflows/ktlint.yml b/.github/workflows/ktlint.yml
@@ -2,9 +2,7 @@ name: Check formatting with ktlint
 
 on:
   push:
-    branches: [ main ]
   pull_request:
-    branches: [ main ]
 
 permissions:
   contents: read

diff --git a/.run/Build & Deploy Robot for Debugging.run.xml b/.run/Build & Deploy Robot for Debugging.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="-PdebugMode=true" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Build & Deploy Robot.run.xml b/.run/Build & Deploy Robot.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Build Robot.run.xml b/.run/Build Robot.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build & Deploy Robot for Debugging.run.xml b/.run/Clean Build & Deploy Robot for Debugging.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build &amp; Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="-PdebugMode=true" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build & Deploy Robot.run.xml b/.run/Clean Build & Deploy Robot.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build &amp; Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean Build Robot.run.xml b/.run/Clean Build Robot.run.xml
@@ -0,0 +1,25 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean Build Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+          <option value="build" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Clean" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="clean" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <ForceTestExec>false</ForceTestExec>
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Debug Robot via IP.run.xml b/.run/Debug Robot via IP.run.xml
@@ -0,0 +1,12 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Robot via IP" type="Remote">
+    <module name="robot2023.main" />
+    <option name="USE_SOCKET_TRANSPORT" value="true" />
+    <option name="SERVER_MODE" value="false" />
+    <option name="SHMEM_ADDRESS" value="javadebug" />
+    <option name="HOST" value="10.4.49.2" />
+    <option name="PORT" value="8349" />
+    <option name="AUTO_RESTART" value="false" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/.run/Debug Robot via USB.run.xml b/.run/Debug Robot via USB.run.xml
@@ -0,0 +1,12 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Robot via USB" type="Remote">
+    <module name="robot2023.main" />
+    <option name="USE_SOCKET_TRANSPORT" value="true" />
+    <option name="SERVER_MODE" value="false" />
+    <option name="SHMEM_ADDRESS" value="javadebug" />
+    <option name="HOST" value="172.22.11.2" />
+    <option name="PORT" value="8349" />
+    <option name="AUTO_RESTART" value="false" />
+    <method v="2" />
+  </configuration>
+</component>
diff --git a/build.gradle b/build.gradle
@@ -3,10 +3,10 @@ import edu.wpi.first.gradlerio.GradleRIOPlugin
 plugins {
   id "java"
   id "idea"
-  id "org.jetbrains.kotlin.jvm" version "1.6.21"
-  id "edu.wpi.first.GradleRIO" version "2023.4.2"
-  id "org.jlleitschuh.gradle.ktlint" version "11.0.0"
-  id "org.jetbrains.dokka" version "1.7.20"
+  id "org.jetbrains.kotlin.jvm" version "1.8.20"
+  id "edu.wpi.first.GradleRIO" version "2023.4.3"
+  id "org.jlleitschuh.gradle.ktlint" version "11.3.1"
+  id "org.jetbrains.dokka" version "1.8.10"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17

diff --git a/src/main/deploy/pathplanner/4.path b/src/main/deploy/pathplanner/4.path
@@ -49,16 +49,16 @@
     },
     {
       "anchorPoint": {
-        "x": 4.715189501553381,
-        "y": 3.9146811389708183
+        "x": 4.696056913481348,
+        "y": 4.453475573617814
       },
       "prevControl": {
-        "x": 4.715189501553381,
-        "y": 3.16731925429586
+        "x": 4.696056913481348,
+        "y": 3.706113688942855
       },
       "nextControl": {
-        "x": 4.715189501553381,
-        "y": 4.717522505320009
+        "x": 4.696056913481348,
+        "y": 5.256316939967006
       },
       "holonomicAngle": 180.0,
       "isReversal": false,