Add best guess base robot code

Remove unused items

.templates/CommandTest.java

@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj2.command.*;
-import frc4388.robot.subsystems.*;
-import org.junit.*;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
-
-public class CommandTest {
-    private CommandScheduler scheduler = null;
-
-    @Before
-    public void setup() {
-        scheduler = CommandScheduler.getInstance();
-    }
-
-    // TODO: Update this to use an actual command. Won't work with inline commands for some reason
-
-    @Test
-    public void testExample() {
-        // Arrange
-        Drive drive = mock(Drive.class);
-        RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
-
-        // Act
-        scheduler.schedule(command);
-        scheduler.run();
-
-        // Assert
-        verify(drive).driveWithInput(0, 0);
-    }
-}

.templates/SubsystemTest.java

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import org.junit.*;
-
-import edu.wpi.first.wpilibj.Spark;
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
-
-/**
- * Based off the LEDSubsystemTest class
- */
-public class SubsystemTest {
-    @Test
-    public void testConstructor() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-
-        // Act
-        LED led = new LED(ledController);
-
-        // Assert
-        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-
-    @Test
-    public void testPatterns() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-        LED led = new LED(ledController);
-
-        // Act
-        led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
-
-        // Assert
-        assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.BLUE_BREATH);
-
-        // Assert
-        assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.SOLID_BLACK);
-
-        // Assert
-        assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-}

.templates/UtilityTest.java

@@ -1,61 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import com.kauailabs.navx.frc.AHRS;
-
-import org.junit.*;
-
-import frc4388.mocks.MockPigeonIMU;
-import frc4388.robot.Constants.DriveConstants;
-
-/**
- * Based on the RobotGyroUtilityTest class
- */
-public class UtilityTest {
-    private RobotGyro gyroPigeon;
-    private RobotGyro gyroNavX;
-
-    @Test
-    public void testConstructor() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        AHRS navX = mock(AHRS.class);
-        gyroPigeon = new RobotGyro(pigeon);
-        gyroNavX = new RobotGyro(navX);
-
-        // Assert
-        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(null, gyroPigeon.getNavX());
-        assertEquals(false, gyroNavX.m_isGyroAPigeon);
-        assertEquals(navX, gyroNavX.getNavX());
-        assertEquals(null, gyroNavX.getPigeon());
-    }
-
-    @Test
-    public void testHeadingPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Act & Assert
-        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
-        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
-        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
-        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
-        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
-        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
-        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
-        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
-        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
-    }
-}

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
   "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
   "files.exclude": {
     "**/.git": true,
     "**/.svn": true,
@@ -10,6 +11,19 @@
     "**/.classpath": true,
     "**/.project": true,
     "**/.settings": true,
-    "**/.factorypath": true
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
       }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2022",
     "teamNumber": 4388
 }

LICENSE

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2018 FIRST
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of the FIRST nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
-EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,2 +0,0 @@
-# Robot-Essentials
- Basic code for any Ridgebotics robot project

WPILib-License.md

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -9,61 +9,79 @@ targetCompatibility = JavaVersion.VERSION_11
 def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
+// This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roboRIO("roborio") {
+        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 = frc.getTeamNumber()
+            team = project.frc.getTeamNumber()
-        }
+            debug = project.frc.getDebugOrDefault(false)
-    }
+
             artifacts {
-        frcJavaArtifact('frcJava') {
+                // First part is artifact name, 2nd is artifact type
-            targets << "roborio"
+                // getTargetTypeClass is a shortcut to get the class type using a string
-            // Debug can be overridden by command line, for use with VSCode
+
-            debug = frc.getDebugOrDefault(false)
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
                 }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
+
-        fileTreeArtifact('frcStaticFileDeploy') {
+                // Static files artifact
-            // The directory below is the local directory to deploy
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-            files = fileTree(dir: 'src/main/deploy')
+                    files = project.fileTree('src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
                     directory = '/home/lvuser/deploy'
                 }
             }
+        }
+    }
 }
 
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation wpi.deps.wpilib()
+    implementation wpi.java.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    implementation wpi.java.vendor.java()
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    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()
 
     testImplementation 'junit:junit:4.12'
-    testCompile "org.mockito:mockito-core:2.+"
-
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
 }
 
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // 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
 }
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
+#
-##  Gradle start up script for UN*X
+#   Gradle start up script for POSIX generated by Gradle.
-##
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
+app_path=$0
-# Need this for relative symlinks.
+
-while [ -h "$PRG" ] ; do
+# Need this for daisy-chained symlinks.
-    ls=`ls -ld "$PRG"`
+while
-    link=`expr "$ls" : '.*-> \(.*\)$'`
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
-    if expr "$link" : '/.*' > /dev/null; then
+    [ -h "$app_path" ]
-        PRG="$link"
+do
-    else
+    ls=$( ls -ld "$app_path" )
-        PRG=`dirname "$PRG"`"/$link"
+    link=${ls#*' -> '}
-    fi
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
+
-cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
+case "$( uname )" in                #(
-  CYGWIN* )
+  CYGWIN* )         cygwin=true  ;; #(
-    cygwin=true
+  Darwin* )         darwin=true  ;; #(
-    ;;
+  MSYS* | MINGW* )  msys=true    ;; #(
-  Darwin* )
+  NONSTOP* )        nonstop=true ;;
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
+    case $MAX_FD in #(
-    if [ $? -eq 0 ] ; then
+      max*)
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+        MAX_FD=$( ulimit -H -n ) ||
-            MAX_FD="$MAX_FD_LIMIT"
+            warn "Could not query maximum file descriptor limit"
-        fi
+    esac
-        ulimit -n $MAX_FD
+    case $MAX_FD in  #(
-        if [ $? -ne 0 ] ; then
+      '' | soft) :;; #(
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
+      *)
-        fi
+        ulimit -n "$MAX_FD" ||
-    else
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
-# Escape application args
+# Collect all arguments for the java command, stacking in reverse order:
-save () {
+#   * args from the command line
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+#   * the main class name
-    echo " "
+#   * -classpath
-}
+#   * -D...appname settings
-APP_ARGS=`save "$@"`
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
+# For Cygwin or MSYS, switch paths to Windows format before running java
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2020'
+        String frcYear = '2022'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

simgui-ds.json

@@ -0,0 +1,85 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 6,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86,
+        66,
+        78
+      ],
+      "povConfig": [
+        {
+          "key0": 73,
+          "key180": 75,
+          "key270": 74,
+          "key90": 76
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "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": "Keyboard0"
+    }
+  ]
+}

simgui-window.json

@@ -0,0 +1,60 @@
+{
+  "MainWindow": {
+    "GLOBAL": {
+      "height": "720",
+      "maximized": "0",
+      "style": "0",
+      "userScale": "2",
+      "width": "1280",
+      "xpos": "-1",
+      "ypos": "-1"
+    }
+  },
+  "Window": {
+    "###FMS": {
+      "Collapsed": "0",
+      "Pos": "5,540",
+      "Size": "235,169"
+    },
+    "###Joysticks": {
+      "Collapsed": "0",
+      "Pos": "250,465",
+      "Size": "796,155"
+    },
+    "###Keyboard 0 Settings": {
+      "Collapsed": "0",
+      "Pos": "10,50",
+      "Size": "300,560"
+    },
+    "###NetworkTables": {
+      "Collapsed": "0",
+      "Pos": "250,86",
+      "Size": "750,376"
+    },
+    "###Other Devices": {
+      "Collapsed": "0",
+      "Pos": "1025,20",
+      "Size": "250,695"
+    },
+    "###System Joysticks": {
+      "Collapsed": "0",
+      "Pos": "5,350",
+      "Size": "192,218"
+    },
+    "###Timing": {
+      "Collapsed": "0",
+      "Pos": "5,150",
+      "Size": "135,127"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    },
+    "Robot State": {
+      "Collapsed": "0",
+      "Pos": "5,20",
+      "Size": "92,99"
+    }
+  }
+}

simgui.json

@@ -0,0 +1,20 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/Drive": "Subsystem",
+      "/LiveWindow/Horn": "Subsystem",
+      "/LiveWindow/Shooter": "Subsystem",
+      "/LiveWindow/Ungrouped/DifferentialDrive[1]": "DifferentialDrive",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler"
+    }
+  },
+  "NetworkTables": {
+    "SmartDashboard": {
+      "Shooter": {
+        "open": true
+      },
+      "open": true
+    }
+  }
+}

src/main/deploy/example.txt

@@ -1,3 +0,0 @@
-Files placed in this directory will be deployed to the RoboRIO into the
-'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function
-to get a proper path relative to the deploy directory.

src/main/java/frc4388/robot/Constants.java

@@ -1,42 +1,36 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc4388.robot;
 
-import frc4388.utility.LEDPatterns;
-
 /**
  * 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
+ * constants. This class should not be used for any other purpose. All constants should be declared
- * declared globally (i.e. public static).  Do not put anything functional in this class.
+ * 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
+ * <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 class DriveConstants {
-        public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
+    public static final int DRIVE_LEFT_CAN_ID = 2;
-        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
+    public static final int DRIVE_RIGHT_CAN_ID = 3;
-	    public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
-        public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
-        
-        public static final int DRIVE_PIGEON_ID = 6;
-
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
   }
 
-    public static final class LEDConstants {
+  public static final class ShooterConstants {
-        public static final int LED_SPARK_ID = 0;
+    public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID  = 1;
+    public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID  = 2;
+    public static final int SHOOTER_LOWER_RIGHT_SOLENOID_ID = 3;
+    public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID  = 4;
+    public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID  = 5;
+    public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID  = 6;
+    public static final int SHOOTER_UPPER_RIGHT_SOLENOID_ID = 7;
+    public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID  = 8;
+  }
 
-        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
+  public static final class HornConstants {
+    public static final int HORN_SOLENOID_ID = 0;
   }
 
   public static final class OIConstants {
-        public static final int XBOX_DRIVER_ID = 0;
+    public static final int CONTROLLER_ID = 0;
-        public static final int XBOX_OPERATOR_ID = 1;
   }
 }

src/main/java/frc4388/robot/Robot.java

@@ -1,124 +1,66 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc4388.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc4388.utility.RobotTime;
 
 /**
- * The VM is configured to automatically run this class, and to call the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
- * functions corresponding to each mode, as described in the TimedRobot
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
- * documentation. If you change the name of this class or the package after
+ * the package after creating this project, you must also update the build.gradle file in the
- * creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
-  Command m_autonomousCommand;
-  
-  private RobotTime m_robotTime = RobotTime.getInstance();
   private RobotContainer m_robotContainer;
 
-  /**
+  /** Robot-wide initialization code should go here. */
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
-   */
   @Override
   public void robotInit() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
   }
 
-  /**
+  /** Periodic code for all robot modes should go here. */
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
-   */
   @Override
   public void robotPeriodic() {
-    m_robotTime.updateTimes();
+    // Runs a single iteration of the scheduler.
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
   }
 
-  /**
+  /** Initialization code for disabled mode should go here. */
-   * This function is called once each time the robot enters Disabled mode.
-   * You can use it to reset any subsystem information you want to clear when
-   * the robot is disabled.
-   */
   @Override
   public void disabledInit() {
-    m_robotTime.endMatchTime();
   }
 
+  /** Periodic code for disabled mode should go here. */
   @Override
   public void disabledPeriodic() {
   }
 
-  /**
+  /** Initialization code for autonomous mode should go here. */
-   * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-   */
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
-    /*
-     * String autoSelected = SmartDashboard.getString("Auto Selector",
-     * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
-     * = new MyAutoCommand(); break; case "Default Auto": default:
-     * autonomousCommand = new ExampleCommand(); break; }
-     */
-
-    // schedule the autonomous command (example)
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
-    }
-    m_robotTime.startMatchTime();
   }
 
-  /**
+  /** Periodic code for autonomous mode should go here. */
-   * This function is called periodically during autonomous.
-   */
   @Override
   public void autonomousPeriodic() {
   }
 
+  /** Initialization code for teleop mode should go here. */
   @Override
   public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
-    }
-    m_robotTime.startMatchTime();
   }
 
-  /**
+  /** Periodic code for teleop mode should go here. */
-   * This function is called periodically during operator control.
-   */
   @Override
   public void teleopPeriodic() {
-    
   }
 
-  /**
+  /** Initialization code for test mode should go here. */
-   * This function is called periodically during test mode.
+  @Override
-   */
+  public void testInit() {
+  }
+
+  /** Periodic code for test mode should go here. */
   @Override
   public void testPeriodic() {
   }

src/main/java/frc4388/robot/RobotContainer.java

@@ -1,44 +1,56 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc4388.robot;
 
-import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandGroupBase;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc4388.robot.Constants.*;
+import edu.wpi.first.wpilibj2.command.button.POVButton;
+import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Horn;
-import frc4388.utility.LEDPatterns;
+import frc4388.robot.subsystems.Shooter;
-import frc4388.utility.controller.IHandController;
-import frc4388.utility.controller.XboxController;
 
 /**
- * This class is where the bulk of the robot should be declared. Since
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
- * Command-based is a "declarative" paradigm, very little robot logic should
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * actually be handled in the {@link Robot} periodic methods (other than the
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * subsystems, commands, and button mappings) should be declared here.
- * commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
   /* RobotMap */
   private final RobotMap m_robotMap = new RobotMap();
 
   /* Subsystems */
-    private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
+  private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftMotor, m_robotMap.driveRightMotor, m_robotMap.driveBase);
-            m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
+  private final Shooter[][] m_robotShooterRows = {
-
+    {
-    private final LED m_robotLED = new LED(m_robotMap.LEDController);
+      new Shooter(m_robotMap.shooterLowerLefterSolenoid),
+      new Shooter(m_robotMap.shooterLowerLeftSolenoid),
+      new Shooter(m_robotMap.shooterLowerRightSolenoid),
+      new Shooter(m_robotMap.shooterLowerRighterSolenoid),
+    },
+    {
+      new Shooter(m_robotMap.shooterUpperLefterSolenoid),
+      new Shooter(m_robotMap.shooterUpperLeftSolenoid),
+      new Shooter(m_robotMap.shooterUpperRightSolenoid),
+      new Shooter(m_robotMap.shooterUpperRighterSolenoid)
+    }
+  };
+  private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
 
   /* Controllers */
-    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+  private final XboxController m_controller = new XboxController(OIConstants.CONTROLLER_ID);
-    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+  private final NetworkTableInteger m_shooterRowIndex = new NetworkTableInteger("Shooter/Row", 0, 0, 1);
+  private final NetworkTableInteger m_shooterColumnIndex = new NetworkTableInteger("Shooter/Column", 0, 0, 3);
 
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -48,30 +60,67 @@ public class RobotContainer {
 
     /* Default Commands */
     // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(
+    m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.arcadeDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive));
-                new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
-                        getDriverController().getRightXAxis()), m_robotDrive));
-        // continually sends updates to the Blinkin LED controller to keep the lights on
-        m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
   }
 
   /**
-     * Use this method to define your button->command mappings. Buttons can be
+   * Use this method to define your button->command mappings. Buttons can be created by instantiating
-     * created by instantiating a {@link GenericHID} or one of its subclasses
+   * a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
-     * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
+   * {@link XboxController}), and then passing it to a
-     * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-        /* Driver Buttons */
+    // B Button: Fire Selected Shooter
-        // test command to spin the robot while pressing A on the driver controller
+    new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(this::fireShooterWithFeedback);
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+    // A Button: Sound Horn
-                .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
+    new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
+    // Right Bumper: Shift Column Selection Right
+    new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() + 1));
+    // Left Bumper: Shift Column Selection Left
+    new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() - 1));
+    // D-Pad Down: Select Lower Shooter Row
+    new POVButton(getController(), 180).whenPressed(() -> m_shooterRowIndex.set(0));
+    // D-Pad Up: Select Upper Shooter Row
+    new POVButton(getController(), 0).whenPressed(() -> m_shooterRowIndex.set(1));
+    // D-Pad Left: Select Righter Shooter Column
+    new POVButton(getController(), 90).whenPressed(() -> m_shooterColumnIndex.set(3));
+    // D-Pad Right: Select Lefter Shooter Column
+    new POVButton(getController(), 270).whenPressed(() -> m_shooterColumnIndex.set(0));
+  }
 
-        /* Operator Buttons */
+  private void fireShooterWithFeedback() {
-        // activates "Lit Mode"
+    boolean fired = m_robotShooterRows[m_shooterRowIndex.get()][m_shooterColumnIndex.get()].set(true);
-        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+    RumbleType rumbleType = m_shooterColumnIndex.get() < 2 ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
-                .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+    double value = fired ? 0.3 : 0.6;
-                .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+    double duration = fired ? 0.3 : 0.4;
+    CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule();
+    System.out.println(m_shooterRowIndex.get() + ":" + m_shooterColumnIndex.get());
+  }
+
+  private static class NetworkTableInteger {
+    private final NetworkTableEntry m_entry;
+    private final int m_defaultValue;
+
+    public NetworkTableInteger(String name, int defaultValue, int minValue, int maxValue) {
+      m_defaultValue = defaultValue;
+      m_entry = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry(name);
+      m_entry.setDouble(m_defaultValue);
+      m_entry.addListener(event -> {
+        if (event.value.isDouble()) {
+          double entryValue = event.value.getDouble();
+          double safeValue = Math.max(minValue, Math.min((int) entryValue, maxValue));
+          if (entryValue != safeValue) event.getEntry().setDouble(safeValue);
+        } else event.getEntry().setDouble(m_defaultValue);
+      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+    }
+
+    public int get() {
+      return (int) m_entry.getDouble(m_defaultValue);
+    }
+
+    public void set(int value) {
+      m_entry.setDouble(value);
+    }
   }
 
   /**
@@ -80,35 +129,10 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-        // no auto
+    return new PrintCommand("No Autonomous");
-        return new InstantCommand();
   }
 
-    /**
+  public XboxController getController() {
-     * Add your docs here.
+    return m_controller;
-     */
-    public IHandController getDriverController() {
-        return m_driverXbox;
-    }
-
-    /**
-     * Add your docs here.
-     */
-    public IHandController getOperatorController() {
-        return m_operatorXbox;
-    }
-
-    /**
-     * Add your docs here.
-     */
-    public Joystick getOperatorJoystick() {
-        return m_operatorXbox.getJoyStick();
-    }
-
-    /**
-     * Add your docs here.
-     */
-    public Joystick getDriverJoystick() {
-        return m_driverXbox.getJoyStick();
   }
 }

src/main/java/frc4388/robot/RobotMap.java

@@ -7,65 +7,53 @@
 
 package frc4388.robot;
 
-import com.ctre.phoenix.motorcontrol.InvertType;
+import static frc4388.robot.Constants.DriveConstants.*;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
+import static frc4388.robot.Constants.HornConstants.*;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import static frc4388.robot.Constants.ShooterConstants.*;
-import com.ctre.phoenix.sensors.PigeonIMU;
 
-import edu.wpi.first.wpilibj.Spark;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import frc4388.robot.Constants.DriveConstants;
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.RobotGyro;
 
 /**
- * Defines and holds all I/O objects on the Roborio. This is useful for unit
+ * Defines and holds all I/O objects on the Roborio. This is useful for unit testing and
- * testing and modularization.
+ * modularization.
  */
 public class RobotMap {
 
   public RobotMap() {
-        configureLEDMotorControllers();
     configureDriveMotorControllers();
   }
 
-    /* LED Subsystem */
-    public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
-
-    void configureLEDMotorControllers() {
-        
-    }
-
   /* Drive Subsystem */
-    public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  public final WPI_TalonSRX driveLeftMotor = new WPI_TalonSRX(DRIVE_LEFT_CAN_ID);
-    public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  public final WPI_TalonSRX driveRightMotor = new WPI_TalonSRX(DRIVE_RIGHT_CAN_ID);
-    public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftMotor, driveRightMotor);
-    public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
-    public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
-    public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
 
   void configureDriveMotorControllers() {
-
     /* factory default values */
-        leftFrontMotor.configFactoryDefault();
+    driveLeftMotor.configFactoryDefault();
-        rightFrontMotor.configFactoryDefault();
+    driveRightMotor.configFactoryDefault();
-        leftBackMotor.configFactoryDefault();
-        rightBackMotor.configFactoryDefault();
-
-        /* set back motors as followers */
-        leftBackMotor.follow(leftFrontMotor);
-        rightBackMotor.follow(rightFrontMotor);
 
     /* set neutral mode */
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    driveLeftMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+    driveRightMotor.setNeutralMode(NeutralMode.Brake);
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-
-        /* flip input so forward becomes back, etc */
-        leftFrontMotor.setInverted(false);
-        rightFrontMotor.setInverted(false);
-        leftBackMotor.setInverted(InvertType.FollowMaster);
-        rightBackMotor.setInverted(InvertType.FollowMaster);
   }
+
+  /* Horn subsystem */
+  public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
+
+  /* Shooter subsystem */
+  public final Solenoid shooterLowerLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFTER_SOLENOID_ID);
+  public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID);
+  public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID);
+  public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID);
+  public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID);
+  public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID);
+  public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID);
+  public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID);
+
 }

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -1,85 +1,29 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc4388.robot.subsystems;
 
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import frc4388.robot.Constants.DriveConstants;
-import frc4388.utility.RobotGyro;
-import frc4388.utility.RobotTime;
-
-/**
- * Add your docs here.
- */
 public class Drive extends SubsystemBase {
-  // Put methods for controlling this subsystem
+  private WPI_TalonSRX m_leftMotor;
-  // here. Call these from Commands.
+  private WPI_TalonSRX m_rightMotor;
+  private DifferentialDrive m_driveBase;
 
-  private RobotTime m_robotTime = RobotTime.getInstance();
+  public Drive(WPI_TalonSRX leftMotor, WPI_TalonSRX rightMotor, DifferentialDrive driveBase) {
-
+    m_leftMotor = leftMotor;
-  private WPI_TalonFX m_leftFrontMotor;
+    m_rightMotor = rightMotor;
-  private WPI_TalonFX m_rightFrontMotor;
+    m_driveBase = driveBase;
-  private WPI_TalonFX m_leftBackMotor;
+    addChild("Left Motor", m_leftMotor);
-  private WPI_TalonFX m_rightBackMotor;
+    addChild("Right Motor", m_rightMotor);
-  private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro;
-
-  /**
-   * Add your docs here.
-   */
-  public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
-      WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
-
-    m_leftFrontMotor = leftFrontMotor;
-    m_rightFrontMotor = rightFrontMotor;
-    m_leftBackMotor = leftBackMotor;
-    m_rightBackMotor = rightBackMotor;
-    m_driveTrain = driveTrain;
-    m_gyro = gyro;
   }
 
-  @Override
+  public void arcadeDrive(double xSpeed, double zRotation) {
-  public void periodic() {
+    m_driveBase.arcadeDrive(xSpeed, zRotation, true);
-    m_gyro.updatePigeonDeltas();
-
-    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
-      updateSmartDashboard();
-    }
   }
 
-  /**
+  public void tankDrive(double leftSpeed, double rightSpeed) {
-   * Add your docs here.
+    m_leftMotor.set(leftSpeed);
-   */
+    m_rightMotor.set(rightSpeed);
-  public void driveWithInput(double move, double steer) {
-    m_driveTrain.arcadeDrive(move, steer);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void tankDriveWithInput(double leftMove, double rightMove) {
-    m_leftFrontMotor.set(leftMove);
-    m_rightFrontMotor.set(rightMove);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  private void updateSmartDashboard() {
-
-    // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
-    SmartDashboard.putData(m_gyro);
   }
 }

src/main/java/frc4388/robot/subsystems/Horn.java

@@ -0,0 +1,16 @@
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Horn extends SubsystemBase {
+  private Solenoid m_solenoid;
+
+  public Horn(Solenoid solenoid) {
+    m_solenoid = solenoid;
+  }
+
+  public void set(boolean on) {
+    m_solenoid.set(on);
+  }
+}

src/main/java/frc4388/robot/subsystems/LED.java

@@ -1,63 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import edu.wpi.first.wpilibj.Spark;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
-
-/**
- * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
- * Driver
- */
-public class LED extends SubsystemBase {
-
-  private LEDPatterns m_currentPattern;
-  private Spark m_LEDController;
-
-  /**
-   * Add your docs here.
-   */
-  public LED(Spark LEDController){
-    m_LEDController = LEDController;
-    setPattern(LEDConstants.DEFAULT_PATTERN);
-    updateLED();
-    System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
-  }
-
-  @Override
-  public void periodic(){
-    SmartDashboard.putNumber("LED", m_currentPattern.getValue());
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void updateLED(){
-    m_LEDController.set(m_currentPattern.getValue());
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void setPattern(LEDPatterns pattern){
-    m_currentPattern = pattern;
-    m_LEDController.set(m_currentPattern.getValue());
-  }
-
-  /**
-   * Add your docs here.
-   * @return
-   */
-  public LEDPatterns getPattern() {
-    return m_currentPattern;
-  }
-}

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -0,0 +1,18 @@
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.Solenoid;
+
+public class Shooter extends SubsystemBase {
+  Solenoid m_solenoid;
+
+  public Shooter(Solenoid solenoid) {
+    m_solenoid = solenoid;
+  }
+
+  public boolean set(boolean on) {
+    if (m_solenoid.get() == on) return false;
+    m_solenoid.set(on);
+    return true;
+  }
+}

src/main/java/frc4388/utility/LEDPatterns.java

@@ -1,45 +0,0 @@
-package frc4388.utility;
-
-/**
- * Add your docs here.
- */
-public enum LEDPatterns {
-  /* PALLETTE PATTERNS */
-  RAINBOW_RAINBOW(-0.99f), PARTY_RAINBOW(-0.97f), OCEAN_RAINBOW(-0.95f), LAVA_RAINBOW(-0.93f), FOREST_RAINBOW(-0.91f),
-    RAINBOW_GLITTER(-0.89f), CONFETTI(-0.87f), RED_SHOT(-0.85f), BLUE_SHOT(-0.83f), WHITE_SHOT(-0.81f), RAINBOW_SINELON(-0.79f),
-    PARTY_SINELON(-0.77f), OCEAN_SINELON(-0.75f), LAVA_SINELON(-0.73f), FOREST_SINELON(-0.71f), RAINBOW_BPM(-0.69f),
-    PARTY_BPM(-0.67f), OCEAN_BPM(-0.65f), LAVA_BPM(-0.63f), FOREST_BPM(-0.61f), FIRE_MEDIUM(-0.59f), FIRE_LARGE(-0.57f),
-    RAINBOW_TWINKLES(-0.55f), PARTY_TWINKLES(-0.53f), OCEAN_TWINKLES(-0.51f), LAVA_TWINKLES(-0.49f), FOREST_TWINKLES(-0.47f),
-    RAINBOW_WAVES(-0.45f), PARTY_WAVES(-0.43f), OCEAN_WAVES(-0.41f), LAVA_WAVES(-0.39f), FOREST_WAVES(-0.37f),
-    RED_SCANNER(-0.35f), GRAY_SCANNER(-0.33f), RED_CHASE(-0.31f), BLUE_CHASE(-0.29f), GRAY_CHASE(-0.27f), RED_HEARTBEAT(-0.25f),
-    BLUE_HEARTBEAT(-0.23f), WHITE_HEARTBEAT(-0.21f), GRAY_HEARBEAT(-0.19f), RED_BREATH(-0.17f), BLUE_BREATH(-0.15f),
-    GRAY_BREATH(-0.13f), RED_STROBE(-0.11f), BLUE_STROBE(-0.09f), GOLD_STROBE(-0.07f), WHITE_STROBE(-0.05f),
-  
-  /* COLOR 1 PATTERNS */
-  C1_END_TO_END(-0.03f), C1_SCANNER(-0.01f), C1_CHASE(0.01f), C1_HEARTBEAT_SLOW(0.03f), C1_HEARTBEAT_MEDIUM(0.05f),
-    C1_HEARTBEAT_FAST(0.07f), C1_BREATH_SLOW(0.09f), C1_BREATH_FAST(0.11f), C1_SHOT(0.13f), C1_STROBE(0.15f),
-    
-  /* COLOR 2 PATTERNS */
-  C2_END_TO_END(0.17f), C2_SCANNER(0.19f), C2_CHASE(0.21f), C2_HEARTBEAT_SLOW(0.23f), C2_HEARTBEAT_MEDIUM(0.25f), 
-    C2_HEARTBEAT_FAST(0.27f), C2_BREATH_SLOW(0.29f), C2_BREATH_FAST(0.31f), C2_SHOT(0.33f), C2_STROBE(0.35f),
-    
-  /* COLOR 1 AND 2 PATTERNS */
-  C1C2_SPARKLE(0.37f), C2C1_SPARKLE(0.39f), C1C2_GRADIENT(0.41f), C1C2_BPM(0.43f), C1C2_BLEND(0.45f), C1C2_TWINKLES(0.51f),
-    C1C2_WAVES(0.53f), C1C2_SINELON(0.55f),
-     
-  /* SOLID COLORS */
-  SOLID_PINK_HOT(0.57f), SOLID_RED_DARK(0.59f), SOLID_RED(0.61f), SOLID_RED_ORANGE(0.63f), SOLID_ORANGE(0.65f),
-    SOLID_GOLD(0.67f), SOLID_YELLOW(0.69f), SOLID_GREEN_LAWN(0.71f), SOLID_GREEN_LIME(0.73f), SOLID_GREEN_DARK(0.75f),
-    SOLID_GREEN(0.77f), SOLID_BLUE_GREEN(0.79f), SOLID_BLUE_AQUA(0.81f), SOLID_BLUE_SKY(0.83f), SOLID_BLUE_DARK(0.85f),
-    SOLID_BLUE(0.87f), SOLID_BLUE_VIOLET(0.89f), SOLID_VIOLET(0.91f), SOLID_WHITE(0.93f), SOLID_GRAY(0.95f),
-    SOLID_GRAY_DARK(0.97f), SOLID_BLACK(0.99f);
-  
-  /* GETTERS/SETTERS */
-  private final float id;
-  LEDPatterns(float id) {
-    this.id = id;
-  }
-  public float getValue() {
-    return id;
-  }
-}

src/main/java/frc4388/utility/RobotGyro.java

@@ -1,180 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import com.ctre.phoenix.sensors.PigeonIMU;
-import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
-import com.kauailabs.navx.frc.AHRS;
-
-import edu.wpi.first.wpilibj.GyroBase;
-import edu.wpi.first.wpiutil.math.MathUtil;
-
-/**
- * Gyro class that allows for interchangeable use between a pigeon and a navX
- */
-public class RobotGyro extends GyroBase {
-    private RobotTime m_robotTime = RobotTime.getInstance();
-
-    private PigeonIMU m_pigeon = null;
-    private AHRS m_navX = null;
-    public boolean m_isGyroAPigeon; //true if pigeon, false if navX
-
-    private double m_lastPigeonAngle;
-    private double m_deltaPigeonAngle;
-
-    /**
-     * Creates a Gyro based on a pigeon
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(PigeonIMU gyro) {
-        m_pigeon = gyro;
-        m_isGyroAPigeon = true;
-    }
-
-    /**
-     * Creates a Gyro based on a navX
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(AHRS gyro){
-        m_navX = gyro;
-        m_isGyroAPigeon = false;
-    }
-
-    /**
-     * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
-     * that the getRate() method for a navX will likely be much more accurate than for a pigeon.
-     */
-    public void updatePigeonDeltas() {
-        double currentPigeonAngle = getAngle();
-        m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
-        m_lastPigeonAngle = currentPigeonAngle;
-    }
-
-    /**
-     * <p>NavX:
-     * <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
-     * the center value as the Accumulator center value for subsequent measurements. It's important to
-     * make sure that the robot is not moving while the centering calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     * 
-     * <p>Pigeon:
-     * <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
-     * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
-     * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
-     * make sure that the robot is not moving while the tempurature calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     */
-    @Override
-    public void calibrate() {
-        if (m_isGyroAPigeon) {
-            m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
-        } else {
-            m_navX.calibrate();
-        }
-    }
-
-    @Override
-    public void reset() {
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(0);
-        } else {
-            m_navX.reset();
-        }
-    }
-
-    /**
-	 * Get Yaw, Pitch, and Roll data.
-	 *
-	 * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
-	 *					Yaw is within [-368,640, +368,640] degrees.
-	 *					Pitch is within [-90,+90] degrees.
-	 *					Roll is within [-90,+90] degrees.
-     */
-    private double[] getPigeonAngles() {
-        double[] angles = new double[3];
-        m_pigeon.getYawPitchRoll(angles);
-        return angles;
-    }
-
-    @Override
-    public double getAngle() {
-        if (m_isGyroAPigeon) {
-            return getPigeonAngles()[0];
-        } else {
-            return m_navX.getAngle();
-        }
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading() {
-        return getHeading(getAngle());
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading(double angle) {
-        return Math.IEEEremainder(angle, 360);
-    }
-
-    /**
-     * Returns the current pitch value (in degrees, from -90 to 90)
-     * reported by the sensor.  Pitch is a measure of rotation around
-     * the Y Axis.
-     * @return The current pitch value in degrees (-90 to 90).
-     */
-    public double getPitch() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getPitch(), -90, 90);
-        }
-    }
-
-    /**
-     * Returns the current roll value (in degrees, from -90 to 90)
-     * reported by the sensor.  Roll is a measure of rotation around
-     * the X Axis.
-     * @return The current roll value in degrees (-90 to 90).
-     */
-    public double getRoll() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getRoll(), -90, 90);
-        }
-    }
-
-    @Override
-    public double getRate() {
-        if (m_isGyroAPigeon) {
-            return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
-        } else {
-            return m_navX.getRate();
-        }
-    }
-
-    public PigeonIMU getPigeon(){
-        return m_pigeon;
-    }
-
-    public AHRS getNavX(){
-        return m_navX;
-    }
-
-    @Override
-    public void close() throws Exception {
-
-    }
-}

src/main/java/frc4388/utility/RobotTime.java

@@ -1,79 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-/**
- * <p>Keeps track of Robot times like time passed, delta time, etc
- * <p>All times are in milliseconds
- */
-public class RobotTime {
-    private long m_currTime = System.currentTimeMillis();
-    public long m_deltaTime = 0;
-
-    private long m_startRobotTime = m_currTime;
-    public long m_robotTime = 0;
-    public long m_lastRobotTime = 0;
-
-    private long m_startMatchTime = 0;
-    public  long m_matchTime = 0;
-    public long m_lastMatchTime = 0;
-
-    public long m_frameNumber = 0;
-
-    /**
-     * Private constructor prevents other classes from instantiating
-     */
-    private RobotTime(){}
-
-    private static RobotTime instance = null;
-
-    /**
-     * Gets the instance of Robot Time. If there is no instance running one will be created.
-     * @return instance of Robot Time
-     */
-    public static RobotTime getInstance() {
-        if (instance == null) {
-            instance = new RobotTime();
-        }
-        return instance;
-    }
-
-    /**
-     * Call this once per periodic loop.
-     */
-    public void updateTimes() {
-        m_lastRobotTime = m_robotTime;
-        m_lastMatchTime = m_matchTime;
-
-        m_currTime = System.currentTimeMillis();
-        m_robotTime = m_currTime - m_startRobotTime;
-        m_deltaTime = m_robotTime - m_lastRobotTime;
-        m_frameNumber++;
-
-        if (m_startMatchTime != 0) {
-            m_matchTime = m_currTime - m_startMatchTime;
-        }
-    }
-
-    /**
-     * Call this in both the auto and periodic inits
-     */
-    public void startMatchTime() {
-        if (m_startMatchTime == 0) {
-            m_startMatchTime = m_currTime;
-        }
-    }
-
-    /**
-     * Call this in disabled init
-     */
-    public void endMatchTime() {
-        m_startMatchTime = 0;
-        m_matchTime = 0;
-    }
-}

src/main/java/frc4388/utility/controller/IHandController.java

@@ -1,21 +0,0 @@
-package frc4388.utility.controller;
-
-/**
- * Add your docs here.
- */
-public interface IHandController {
-
-	public double getLeftXAxis();
-
-	public double getLeftYAxis();
-
-	public double getRightXAxis();
-	
-	public double getRightYAxis();
-
-	public double getLeftTriggerAxis();
-
-	public double getRightTriggerAxis();
-
-	public int getDpadAngle();
-}

src/main/java/frc4388/utility/controller/XboxController.java

@@ -1,218 +0,0 @@
-package frc4388.utility.controller;
-
-import edu.wpi.first.wpilibj.Joystick;
-
-/**
- * This is a wrapper for the WPILib Joystick class that represents an XBox 
- * controller.
- * @author frc1675
- */
-public class XboxController implements IHandController
-{
-	public static final int LEFT_X_AXIS = 0;
-	public static final int LEFT_Y_AXIS = 1;
-	public static final int LEFT_TRIGGER_AXIS = 2;
-	public static final int RIGHT_TRIGGER_AXIS = 3;
-	public static final int RIGHT_X_AXIS = 4;
-	public static final int RIGHT_Y_AXIS = 5;
-	public static final int LEFT_RIGHT_DPAD_AXIS = 6;
-	public static final int TOP_BOTTOM_DPAD_AXIS = 6;
-
-	public static final int A_BUTTON = 1;
-	public static final int B_BUTTON = 2;
-	public static final int X_BUTTON = 3;
-	public static final int Y_BUTTON = 4;
-	public static final int LEFT_BUMPER_BUTTON = 5;
-	public static final int RIGHT_BUMPER_BUTTON = 6;
-	public static final int BACK_BUTTON = 7;
-	public static final int START_BUTTON = 8;
-
-	public static final int LEFT_JOYSTICK_BUTTON = 9;
-	public static final int RIGHT_JOYSTICK_BUTTON = 10;
-
-	private static final double LEFT_DPAD_TOLERANCE = -0.9;
-	private static final double RIGHT_DPAD_TOLERANCE = 0.9;
-	private static final double BOTTOM_DPAD_TOLERANCE = -0.9;
-	private static final double TOP_DPAD_TOLERANCE = 0.9;
-
-	private static final double LEFT_TRIGGER_TOLERANCE = 0.5;
-	private static final double RIGHT_TRIGGER_TOLERANCE = 0.5;
-
-	private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9;
-	private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9;
-	private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9;
-	private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9;
-
-	private static final double LEFT_AXIS_UP_TOLERANCE = -0.9;
-	private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9;
-	private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9;
-	private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9;
-
-	private static final double DEADZONE = 0.1;
-
-	private Joystick m_stick;
-
-	/**
-     * Add your docs here.
-     */
-	public XboxController(int portNumber){
-		m_stick = new Joystick(portNumber);
-	}
-
-	/**
-     * Add your docs here.
-     */
-	public Joystick getJoyStick() {
-		return m_stick;
-	}
-	
-	/**
-	 * Checks if the input falls within the deadzone.
-	 * @param input from an axis on the controller
-	 * @return true if input falls in deadzone, false if input falls outside deadzone
-	 */
-	private boolean inDeadZone(double input){
-		return (Math.abs(input) < DEADZONE);
-	}
-
-	/**
-	 * Updates an input to have a deadzone around the 0 position
-	 * @param input from an axis on the controller
-	 * @return updated input
-	 */
-	private double getAxisWithDeadZoneCheck(double input){
-		if(inDeadZone(input)){
-			return 0.0;       
-		} else {
-			return input;
-		}
-	}
-
-	public boolean getAButton(){
-		return m_stick.getRawButton(A_BUTTON);
-	}
-
-	public boolean getXButton(){
-		return m_stick.getRawButton(X_BUTTON);    
-	}
-
-	public boolean getBButton(){
-		return m_stick.getRawButton(B_BUTTON);
-	}
-
-	public boolean getYButton(){
-		return m_stick.getRawButton(Y_BUTTON);
-	} 
-
-	public boolean getBackButton(){
-		return m_stick.getRawButton(BACK_BUTTON);
-	}
-
-	public boolean getStartButton(){
-		return m_stick.getRawButton(START_BUTTON);
-	} 
-
-	public boolean getLeftBumperButton(){
-		return m_stick.getRawButton(LEFT_BUMPER_BUTTON);
-	}
-
-	public boolean getRightBumperButton(){
-		return m_stick.getRawButton(RIGHT_BUMPER_BUTTON);
-	}
-
-	public boolean getLeftJoystickButton(){
-		return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON);
-	}
-
-	public boolean getRightJoystickButton(){
-		return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON);
-	}
-
-	public double getLeftXAxis(){         
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); 
-	}
-
-	public double getLeftYAxis(){
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS));
-	}
-
-	public double getRightXAxis(){
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS));
-	}
-
-	public double getRightYAxis(){
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); 
-	}
-
-	public double getLeftTriggerAxis(){
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); 
-	}
-
-	public double getRightTriggerAxis(){
-		return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); 
-	}
-
-	/**
-	 * Get the angle input from the dpad.
-	 * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc.
-	 */
-	public int getDpadAngle() {
-		return m_stick.getPOV(0);
-	}
-
-	public boolean getDPadLeft(){
-      return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
-  	}
-
-  	public boolean getDPadRight(){
-      return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
-  	}
-
-  	public boolean getDPadTop(){
-      return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
-  	}
-
-  	public boolean getDPadBottom(){
-      return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
-  	}
-
-	public boolean getLeftTrigger(){
-		return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
-	}
-
-	public boolean getRightTrigger(){
-		return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE);
-	}   
-
-	public boolean getRightAxisUpTrigger(){
-		return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE);
-	}   
-
-	public boolean getRightAxisDownTrigger(){
-		return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE);
-	}   
-
-	public boolean getRightAxisLeftTrigger(){
-		return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE);
-	}   
-
-	public boolean getRightAxisRightTrigger(){
-		return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE);
-	}   
-
-	public boolean getLeftAxisUpTrigger(){
-		return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE);
-	}   
-
-	public boolean getLeftAxisDownTrigger(){
-		return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE);
-	}   
-
-	public boolean getLeftAxisLeftTrigger(){
-		return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE);
-	}   
-
-	public boolean getLeftAxisRightTrigger(){
-		return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE);
-	}
-}

src/main/java/frc4388/utility/controller/XboxTriggerButton.java

@@ -1,69 +0,0 @@
-package frc4388.utility.controller;
-
-import edu.wpi.first.wpilibj2.command.button.Button;
-import frc4388.utility.controller.XboxController;
-
-/**
- * Mapping for the Xbox controller triggers to allow triggers to be defined as
- * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger 
- * exceeds a tolerance defined in {@link XboxController}.
- */
-public class XboxTriggerButton extends Button {
-	public static final int RIGHT_TRIGGER = 0;
-	public static final int LEFT_TRIGGER = 1;
-	public static final int RIGHT_AXIS_UP_TRIGGER = 2;
-	public static final int RIGHT_AXIS_DOWN_TRIGGER = 3;
-	public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4;
-	public static final int RIGHT_AXIS_LEFT_TRIGGER = 5;
-	public static final int LEFT_AXIS_UP_TRIGGER = 6;
-	public static final int LEFT_AXIS_DOWN_TRIGGER = 7;
-	public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
-	public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
-
-	private XboxController m_controller;
-	private int m_trigger;
-
-	/**
-	 * Creates a Trigger-Button mapped to a specific Xbox controller and trigger
-	 */
-	public XboxTriggerButton(XboxController controller, int trigger) {
-		m_controller = controller;
-		m_trigger = trigger;
-	}
-
-	/** {@inheritDoc} */
-	@Override
-	public boolean get() {
-		if (m_trigger == RIGHT_TRIGGER) {
-			return m_controller.getRightTrigger();
-		}
-		else if (m_trigger == LEFT_TRIGGER) {
-			return m_controller.getLeftTrigger();
-		}
-		else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
-			return m_controller.getRightAxisUpTrigger();
-		}
-		else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
-			return m_controller.getRightAxisDownTrigger();
-		}
-		else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
-			return m_controller.getRightAxisRightTrigger();
-		}
-		else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
-			return m_controller.getRightAxisLeftTrigger();
-		}
-		else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
-			return m_controller.getLeftAxisUpTrigger();
-		}
-		else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
-			return m_controller.getLeftAxisDownTrigger();
-		}
-		else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
-			return m_controller.getLeftAxisRightTrigger();
-		}
-		else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
-			return m_controller.getLeftAxisLeftTrigger();
-		}
-		return false;
-	}
-}

src/test/java/frc4388/mocks/MockPigeonIMU.java

@@ -1,54 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.mocks;
-
-import com.ctre.phoenix.ErrorCode;
-import com.ctre.phoenix.sensors.PigeonIMU;
-
-/**
- * Add your docs here.
- */
-public class MockPigeonIMU extends PigeonIMU {
-    public int m_deviceNumber;
-    public double currentYaw;
-    public double currentPitch;
-    public double currentRoll;
-
-    public MockPigeonIMU(int deviceNumber) {
-        super(deviceNumber);
-        m_deviceNumber = deviceNumber;
-    }
-
-    @Override
-    public ErrorCode setYaw(double angleDeg) {
-        currentYaw = angleDeg;
-        return ErrorCode.OK;
-    }
-
-    /**
-     * @param currentPitch the Pitch to set
-     */
-    public void setCurrentPitch(double currentPitch) {
-        this.currentPitch = currentPitch;
-    }
-
-    /**
-     * @param currentRoll the Roll to set
-     */
-    public void setCurrentRoll(double currentRoll) {
-        this.currentRoll = currentRoll;
-    }
-
-    @Override
-    public ErrorCode getYawPitchRoll(double[] ypr_deg) {
-        ypr_deg[0] = currentYaw;
-        ypr_deg[1] = currentPitch;
-        ypr_deg[2] = currentRoll;
-        return ErrorCode.OK;
-    }
-}

src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import static org.junit.Assert.assertEquals;
-import static org.mockito.Mockito.mock;
-
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.*;
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
-
-/**
- * Add your docs here.
- */
-public class LEDSubsystemTest {
-    @Test
-    public void testConstructor() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-
-        // Act
-        LED led = new LED(ledController);
-
-        // Assert
-        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-
-    @Test
-    public void testPatterns() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-        LED led = new LED(ledController);
-
-        // Act
-        led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
-
-        // Assert
-        assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.BLUE_BREATH);
-
-        // Assert
-        assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.SOLID_BLACK);
-
-        // Assert
-        assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-}

src/test/java/frc4388/utility/RobotGyroUtilityTest.java

@@ -1,184 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import com.kauailabs.navx.frc.AHRS;
-
-import org.junit.*;
-
-import frc4388.mocks.MockPigeonIMU;
-import frc4388.robot.Constants.DriveConstants;
-
-/**
- * Add your docs here.
- */
-public class RobotGyroUtilityTest {
-    // TODO UNTESTED: most functions for NavX
-
-    private RobotGyro gyroPigeon;
-    private RobotGyro gyroNavX;
-
-    @Test
-    public void testConstructor() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        AHRS navX = mock(AHRS.class);
-        gyroPigeon = new RobotGyro(pigeon);
-        gyroNavX = new RobotGyro(navX);
-
-        // Assert
-        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(null, gyroPigeon.getNavX());
-        assertEquals(false, gyroNavX.m_isGyroAPigeon);
-        assertEquals(navX, gyroNavX.getNavX());
-        assertEquals(null, gyroNavX.getPigeon());
-    }
-
-    @Test
-    public void testHeadingPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Act & Assert
-        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
-        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
-        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
-        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
-        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
-        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
-        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
-        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
-        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
-    }
-
-    @Test
-    public void testYawPitchRollPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Assert
-        assertEquals(0, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        pigeon.setYaw(40);
-
-        // Assert
-        assertEquals(40, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        gyroPigeon.reset();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getAngle(), 0.0001);
-
-        // Act
-        pigeon.setYaw(-1457);
-        pigeon.setCurrentPitch(100);
-        pigeon.setCurrentRoll(100);
-
-        // Assert
-        assertEquals(-1457, gyroPigeon.getAngle(), 0.0001);
-        assertEquals(90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(90, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(45);
-        pigeon.setCurrentRoll(45);
-
-        // Assert
-        assertEquals(45, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(45, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(0);
-        pigeon.setCurrentRoll(0);
-
-        // Assert
-        assertEquals(0, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(0, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-60);
-        pigeon.setCurrentRoll(-60);
-
-        // Assert
-        assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-90);
-        pigeon.setCurrentRoll(-90);
-
-        // Assert
-        assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
-
-        // Act
-        pigeon.setCurrentPitch(-100);
-        pigeon.setCurrentRoll(-100);
-
-        // Assert
-        assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
-        assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
-    }
-
-    @Test
-    public void testRatesPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-        RobotTime robotTime = RobotTime.getInstance();
-        gyroPigeon.updatePigeonDeltas();
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(0);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getRate(), 1);
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(90);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(18000, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 5;
-        pigeon.setYaw(90);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(0, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 3;
-        pigeon.setYaw(-30);
-        gyroPigeon.updatePigeonDeltas();
-        
-        // Assert
-        assertEquals(-40000, gyroPigeon.getRate(), 0.001);
-
-        // Act
-        robotTime.m_deltaTime = 6;
-        pigeon.setYaw(690);
-        gyroPigeon.updatePigeonDeltas();
-
-        // Assert
-        assertEquals(120000, gyroPigeon.getRate(), 0.001);
-    }
-}

src/test/java/frc4388/utility/RobotTimeUtilityTest.java

@@ -1,104 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-
-import org.junit.*;
-
-/**
- * Add your docs here.
- */
-public class RobotTimeUtilityTest {
-    RobotTime robotTime = RobotTime.getInstance();
-
-    @Test
-    public void testUpdateTimes() {
-        // Arrange
-        long lastTime;
-        robotTime.m_deltaTime = 0;
-        robotTime.m_robotTime = 0;
-        robotTime.m_lastRobotTime = 0;
-        robotTime.m_frameNumber = 0;
-        robotTime.endMatchTime();
-        robotTime.m_lastMatchTime = 0;
-
-        // Assert
-        assertEquals(0, robotTime.m_deltaTime);
-        assertEquals(0, robotTime.m_robotTime);
-        assertEquals(0, robotTime.m_lastRobotTime);
-        assertEquals(0, robotTime.m_frameNumber);
-        lastTime = robotTime.m_robotTime;
-
-        // Act
-        wait(1);
-        robotTime.updateTimes();
-
-        // Assert
-        assertEquals(true, robotTime.m_deltaTime > 0);
-        assertEquals(true, robotTime.m_robotTime > 0);
-        assertEquals(lastTime, robotTime.m_lastRobotTime);
-        assertEquals(1, robotTime.m_frameNumber);
-        lastTime = robotTime.m_robotTime;
-
-        // Act
-        wait(1);
-        robotTime.updateTimes();
-
-        // Assert
-        assertEquals(true, robotTime.m_deltaTime > 0);
-        assertEquals(true, robotTime.m_robotTime > 0);
-        assertEquals(lastTime, robotTime.m_lastRobotTime);
-        assertEquals(2, robotTime.m_frameNumber);
-    }
-
-    @Test
-    public void testMatchTime() {
-        // Arrange
-        long lastTime;
-
-        // Assert
-        assertEquals(0, robotTime.m_matchTime);
-        assertEquals(0, robotTime.m_lastMatchTime);
-        lastTime = robotTime.m_matchTime;
-
-        // Act
-        robotTime.startMatchTime();
-        wait(1);
-        robotTime.updateTimes();
-
-        // Assert
-        assertEquals(true, robotTime.m_matchTime > 0);
-        assertEquals(lastTime, robotTime.m_lastMatchTime);
-        lastTime = robotTime.m_matchTime;
-        
-        // Act
-        wait(1);
-        robotTime.updateTimes();
-        robotTime.endMatchTime();
-
-        // Assert
-        assertEquals(0, robotTime.m_matchTime);
-        assertEquals(lastTime, robotTime.m_lastMatchTime);
-        lastTime = robotTime.m_matchTime;
-
-        // Act
-        wait(1);
-        robotTime.updateTimes();
-
-        // Assert
-        assertEquals(0, robotTime.m_matchTime);
-        assertEquals(lastTime, robotTime.m_lastMatchTime);
-    }
-
-    private void wait(int millis) {
-        try {
-            Thread.sleep(millis);
-        } catch (Exception e) {}
-    }
-}

template.config.js

@@ -1,31 +0,0 @@
-/**
- * This file is a configuration file generated by the `Template` extension on `vscode`
- * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template
- */
-module.exports = {
-  // You can change the template path to another path
-  templateRootPath: "./.templates",
-  // After copying the template file the `replaceFileTextFn` function is executed
-  replaceFileTextFn: (fileText, templateName, utils) => {
-    // @see https://www.npmjs.com/package/change-case
-    const { changeCase } = utils;
-    // You can change the text in the file
-    return fileText
-      .replace(/__templateName__/gm, templateName)
-      .replace(
-        /__templateNameToPascalCase__/gm,
-        changeCase.pascalCase(templateName)
-      )
-      .replace(
-        /__templateNameToParamCase__/gm,
-        changeCase.paramCase(templateName)
-      );
-  },
-  replaceFileNameFn: (fileName, templateName, utils) => {
-    const { path } = utils;
-    // @see https://nodejs.org/api/path.html#path_path_parse_path
-    const { base } = path.parse(fileName);
-    // You can change the file name
-    return base;
-  }
-};

vendordeps/Phoenix.json

@@ -1,81 +1,106 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix",
-    "version": "5.17.3",
+    "version": "5.21.2",
+    "frcYear": 2022,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
-        "http://devsite.ctr-electronics.com/maven/release/"
+        "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.17.3"
+            "version": "5.21.2"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.17.3"
+            "version": "5.21.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
-                "linuxathena",
+                "linuxathena"
-                "windowsx86-64",
-                "linuxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "diagnostics",
+            "artifactId": "cci-sim",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "canutils",
+            "artifactId": "simTalonSRX",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "platform-stub",
+            "artifactId": "simTalonFX",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "core",
+            "artifactId": "simVictorSPX",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.21.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
             ]
         }
     ],
@@ -83,97 +108,149 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
+                "linuxathena"
-                "windowsx86-64",
-                "linuxx86-64"
             ]
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
+                "linuxathena"
-                "windowsx86-64",
-                "linuxx86-64"
             ]
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.17.3",
+            "version": "5.21.2",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
+                "linuxathena"
-                "windowsx86-64",
-                "linuxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "diagnostics",
+            "artifactId": "wpiapi-cpp-sim",
-            "version": "5.17.3",
+            "version": "5.21.2",
-            "libName": "CTRE_PhoenixDiagnostics",
+            "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "canutils",
+            "artifactId": "api-cpp-sim",
-            "version": "5.17.3",
+            "version": "5.21.2",
-            "libName": "CTRE_PhoenixCanutils",
+            "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "platform-stub",
+            "artifactId": "cci-sim",
-            "version": "5.17.3",
+            "version": "5.21.2",
-            "libName": "CTRE_PhoenixPlatform",
+            "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
             ]
         },
         {
-            "groupId": "com.ctre.phoenix",
+            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "core",
+            "artifactId": "simTalonSRX",
-            "version": "5.17.3",
+            "version": "5.21.2",
-            "libName": "CTRE_PhoenixCore",
+            "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
-            "sharedLibrary": false,
+            "sharedLibrary": true,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
-                "linuxathena",
                 "windowsx86-64",
-                "linuxx86-64"
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonFX",
+            "version": "5.21.2",
+            "libName": "CTRE_SimTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simVictorSPX",
+            "version": "5.21.2",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "5.21.2",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simCANCoder",
+            "version": "5.21.2",
+            "libName": "CTRE_SimCANCoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
             ]
         }
     ]

vendordeps/navx_frc.json

@@ -1,35 +0,0 @@
-{
-    "fileName": "navx_frc.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "3.1.413",
-    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "mavenUrls": [
-        "https://repo1.maven.org/maven2/"
-    ],
-    "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-java",
-            "version": "3.1.413"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-cpp",
-            "version": "3.1.413",
-            "headerClassifier": "headers",
-            "sourcesClassifier": "sources",
-            "sharedLibrary": false,
-            "libName": "navx_frc",
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "linuxraspbian",
-                "windowsx86-64"
-            ]
-        }
-    ]
-}