Merge remote-tracking branch 'origin/staging' into broom-time

.vscode/settings.json

@@ -30,5 +30,14 @@
   "editor.detectIndentation": false,
   "editor.tabSize": 2,
   "editor.insertSpaces": true,
-  "java.format.settings.url": "https://raw.githubusercontent.com/google/styleguide/gh-pages/eclipse-java-google-style.xmleclipse-formatter.xml",
+
+  "files.eol": "\n",
+
+  "[java]": {
+    "spotlessGradle.format.enable": true,
+    "spotlessGradle.diagnostics.enable": true,
+    "editor.codeActionsOnSave": {
+      "source.fixAll.spotlessGradle": true 
+    }
+  }
 }

build.gradle

@@ -1,6 +1,7 @@
 plugins {
-    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.1.1"
+	id "java"
+	id "edu.wpi.first.GradleRIO" version "2023.1.1"
+	id "com.diffplug.spotless" version "6.22.0"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -11,30 +12,30 @@ 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
@@ -48,31 +49,31 @@ def includeDesktopSupport = true
 // 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()
 
-    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-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+	testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+	testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+	testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 }
 
 test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -83,9 +84,9 @@ 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) } }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+	from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+	duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 // Configure jar and deploy tasks
@@ -95,5 +96,20 @@ 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 {
+format 'misc', {
+	target '*.gradle', '.gitignore', '*.txt'
+	trimTrailingWhitespace()
+	indentWithTabs()
+}
+
+java {
+	licenseHeader '// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.'
+	removeUnusedImports()
+	formatAnnotations()
+	googleJavaFormat().reflowLongStrings()
+}
+}

settings.gradle

@@ -1,27 +1,27 @@
 import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
-    repositories {
-        mavenLocal()
-        gradlePluginPortal()
-        String frcYear = '2023'
-        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 = '2023'
+		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
+		}
+	}
 }

src/main/java/frc/robot/ArbitraryValues.java

@@ -1,7 +1,6 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;

src/main/java/frc/robot/Constants.java

@@ -1,7 +1,6 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import frc.robot.positioning.Pose;
@@ -35,8 +34,10 @@ public static class OperatorConstants {
   public static class RobotDimensions {
     /** The pose of the robot's center */
     public static final Pose CENTER_POSE = new Pose(0, 0, 8.5);
+
     /** The front/back length of the robot's frame in inches */
     public static final double FRAME_LENGTH = 29.0;
+
     /** The left/right width of the robot's frame in inches */
     public static final double FRAME_WIDTH = 29.0;
   }
@@ -146,10 +147,13 @@ public static class DriveConstants {
   public static class Arm {
     /** The pose of the arm's base in robot oriented coordinates */
     public static final Pose BASE_POSE = new Pose(0, 0, 8.5);
+
     /** The distance between the floor and the arm base in inches */
     public static final double BASE_DISTANCE_TO_FLOOR = 8.5;
+
     /** Length in inches from the base of the arm to the shoulder joint */
     public static final double BASE_TO_SHOULDER_LENGTH = 19;
+
     /**
      * How high above the arm base should we keep the end effector to stop the arm from stabbing the
      * robot? This only matters inside the frame perimeter. Distance in inches.
@@ -231,8 +235,10 @@ public static class I2C {
   public static class Limits {
     /** Maximum horizontal extension over the frame in inches */
     public static final double MAX_FRAME_EXTENSION = 48.0;
+
     /** Maximum extended robot height in inches */
     public static final double MAX_EXTENDED_HEIGHT = 78.0;
+
     /** Minimum distance from overextending we want to keep in inches */
     public static final double OVEREXTENSION_DANGER_DISTANCE = 4.0;
   }
@@ -245,21 +251,27 @@ public static class ConeNode {
           public static class Top {
             /** Height of the node in feet */
             public static final double HEIGHT = 3.8333;
+
             /** Horizontal distance from the bumper to the node in feet */
             public static final double DISTANCE = 3.3125;
+
             /** Height of the reflective tape off the ground in feet */
             public static final double TAPE_HEIGHT = 3.4896;
+
             /** The distance from the top of the tape to the top of the node */
             public static final double ABOVE_TAPE = 0.0156;
           }
 
           public static class Middle {
             /** Height of the node in feet */
             public static final double HEIGHT = 2.8333;
+
             /** Horizontal distance from the bumper to the node in feet */
             public static final double DISTANCE = 1.8958;
+
             /** Height of the reflective tape off the ground in feet */
             public static final double TAPE_HEIGHT = 1.8438;
+
             /** The distance from the top of the tape to the top of the node */
             public static final double ABOVE_TAPE = 0.6667;
           }
@@ -268,13 +280,15 @@ public static class CubeNode {
             public static class Top {
               /** Height of the node in feet */
               public static final double HEIGHT = 2.9583;
+
               /** Horizontal distance from the bumper to the middle of the node in feet */
               public static final double DISTANCE = 3.3125;
             }
 
             public static class Middle {
               /** Height of the node in feet */
               public static final double HEIGHT = 1.9583;
+
               /** Horizontal distance from the bumper to the middle of the node in feet */
               public static final double DISTANCE = 1.8958;
             }
@@ -286,21 +300,27 @@ public static class Objects {
         public static class Cone {
           /** Height in inches */
           public static final double HEIGHT = 12.8125;
+
           /** Width of the square base in inches */
           public static final double WIDTH = 8.375;
+
           /** Diameter of the bottom of the cone */
           public static final double BOTTOM_DIAMETER = 6.625;
+
           /** Diameter of top bottom of the cone */
           public static final double TOP_DIAMETER = 1.75;
+
           /** Average diameter of the cone's grabbable area */
           public static final double AVG_DIAMETER = 4.1875;
+
           /** The pressure reading required to securely hold the cone */
           public static final double PRESSURE_TO_HOLD = -1;
         }
 
         public static class Cube {
           /** Side length of a properly inflated cube in inches */
           public static final double LENGTH = 9.5;
+
           /** The pressure reading required to securely hold the cube */
           public static final double PRESSURE_TO_HOLD = -1;
         }

src/main/java/frc/robot/Main.java

@@ -1,7 +1,6 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;

src/main/java/frc/robot/Robot.java

@@ -1,8 +1,6 @@
-
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.DriverStation;