AdvKit-add spotless format

FusionCorps · Nov 20, 2024 · 5a0f3fa · 5a0f3fa
1 parent 4ce3c86
commit 5a0f3fa
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Showing 14 changed files with 523 additions and 474 deletions.
diff --git a/AdvKit2024/.wpilib/wpilib_preferences.json b/AdvKit2024/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
-    "enableCppIntellisense": false,
-    "currentLanguage": "java",
-    "projectYear": "2024",
-    "teamNumber": 6672
-}
+  "enableCppIntellisense": false,
+  "currentLanguage": "java",
+  "projectYear": "2024",
+  "teamNumber": 6672
+}
diff --git a/AdvKit2024/build.gradle b/AdvKit2024/build.gradle
@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id 'com.diffplug.spotless' version '6.20.0'
 }
 
 java {
@@ -108,7 +109,11 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from {
+        configurations.runtimeClasspath.collect {
+            it.isDirectory() ? it : zipTree(it)
+        }
+    }
     from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
@@ -123,3 +128,45 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+// Spotless formatting
+project.compileJava.dependsOn(spotlessApply)
+spotless {
+    java {
+        target fileTree(".") {
+            include "**/*.java"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree(".") {
+            include "**/*.gradle"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    json {
+        target fileTree(".") {
+            include "**/*.json"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        gson().indentWithSpaces(2)
+    }
+    format "misc", {
+        target fileTree(".") {
+            include "**/*.md", "**/.gitignore"
+            exclude "**/build/**", "**/build-*/**"
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}
diff --git a/AdvKit2024/src/main/java/frc/robot/Robot.java b/AdvKit2024/src/main/java/frc/robot/Robot.java
@@ -4,15 +4,13 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-
 public class Robot extends LoggedRobot {
   private Command m_autonomousCommand;
 
@@ -22,21 +20,25 @@ public class Robot extends LoggedRobot {
   public void robotInit() {
     Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value
 
-  // if (isReal()) {
-  //     Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
-  //     Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
-  //     new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
-  // } else {
-  //     setUseTiming(false); // Run as fast as possible
-  //     String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
-  //     Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
-  //     Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
-  // }
+    // if (isReal()) {
+    //     Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
+    //     Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+    //     new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
+    // } else {
+    //     setUseTiming(false); // Run as fast as possible
+    //     String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope
+    // (or prompt the user)
+    //     Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+    //     Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); //
+    // Save outputs to a new log
+    // }
     Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
     Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
 
-  //   Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
-    Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.
+    //   Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the
+    // "Understanding Data Flow" page
+    Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
+    // be added.
 
     m_robotContainer = new RobotContainer();
   }

diff --git a/AdvKit2024/src/main/java/frc/robot/RobotContainer.java b/AdvKit2024/src/main/java/frc/robot/RobotContainer.java
@@ -14,7 +14,7 @@
 public class RobotContainer {
   private final Intake intake;
   private final Drive drive;
-  
+
   public RobotContainer() {
     intake = new Intake(new IntakeIOSim());
     drive = new Drive(new DriveIOSim());

diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/Drive.java b/AdvKit2024/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -1,39 +1,37 @@
 package frc.robot.subsystems.drive;
 
-import org.littletonrobotics.junction.AutoLogOutput;
-import org.littletonrobotics.junction.Logger;
+import static frc.robot.Constants.driverController;
 
-import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
 import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import static frc.robot.Constants.driverController;
 import java.util.function.DoubleSupplier;
+import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
 
-public class Drive extends SubsystemBase{
+public class Drive extends SubsystemBase {
   DriveIO driveIO;
   DriveIOInputsAutoLogged inputs = new DriveIOInputsAutoLogged();
 
-  @AutoLogOutput
-  public Mechanism2d leftMechanism2d = new Mechanism2d(1, 1);
-  private MechanismLigament2d leftMotorMechanismModifiable = leftMechanism2d.getRoot("leftMotor", 0.5, 0.5)
-  .append(new MechanismLigament2d("leftMotorAngle", 0.25, 0)
-  );
+  @AutoLogOutput public Mechanism2d leftMechanism2d = new Mechanism2d(1, 1);
+  private MechanismLigament2d leftMotorMechanismModifiable =
+      leftMechanism2d
+          .getRoot("leftMotor", 0.5, 0.5)
+          .append(new MechanismLigament2d("leftMotorAngle", 0.25, 0));
 
-  @AutoLogOutput
-  public Mechanism2d rightMechanism2d = new Mechanism2d(1, 1);
-  private MechanismLigament2d rightMotorMechanismModifiable = rightMechanism2d.getRoot("rightMotor", 0.5, 0.5)
-  .append(new MechanismLigament2d("rightMotorAngle", 0.25, 0)
-  );
+  @AutoLogOutput public Mechanism2d rightMechanism2d = new Mechanism2d(1, 1);
+  private MechanismLigament2d rightMotorMechanismModifiable =
+      rightMechanism2d
+          .getRoot("rightMotor", 0.5, 0.5)
+          .append(new MechanismLigament2d("rightMotorAngle", 0.25, 0));
 
   public Drive(DriveIO driveIO) {
     this.driveIO = driveIO;
 
     setDefaultCommand(
-      runArcadeDrive(() -> -driverController.getLeftY(), driverController::getRightX)
-    );
+        runArcadeDrive(() -> -driverController.getLeftY(), driverController::getRightX));
   }
 
   public void periodic() {
@@ -45,8 +43,10 @@ public void periodic() {
   }
 
   public Command runArcadeDrive(DoubleSupplier speed, DoubleSupplier rotation) {
-    return run(() -> driveIO.setDriveVoltage(
-      speed.getAsDouble() + rotation.getAsDouble(),
-      speed.getAsDouble() - rotation.getAsDouble()));
+    return run(
+        () ->
+            driveIO.setDriveVoltage(
+                speed.getAsDouble() + rotation.getAsDouble(),
+                speed.getAsDouble() - rotation.getAsDouble()));
   }
 }
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIO.java b/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIO.java
@@ -16,7 +16,8 @@ public static class DriveIOInputs {
 
   public default void updateInputs(DriveIOInputs inputs) {}
 
-  public default void setDriveVelocity(double leftVelocityRadPerSec, double rightVelocityRadPerSec) {}
+  public default void setDriveVelocity(
+      double leftVelocityRadPerSec, double rightVelocityRadPerSec) {}
 
   public default void setDriveVoltage(double leftVolts, double rightVolts) {}
 }
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java b/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
@@ -3,7 +3,7 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 
-public class DriveIOSim implements DriveIO{
+public class DriveIOSim implements DriveIO {
   DCMotorSim leftDriveMotorSim = new DCMotorSim(DCMotor.getFalcon500(1), 1, 0.0001);
   DCMotorSim rightDriveMotorSim = new DCMotorSim(DCMotor.getFalcon500(1), 1, 0.0001);
 
@@ -29,7 +29,7 @@ public void updateInputs(DriveIO.DriveIOInputs inputs) {
     inputs.leftDriveMotorAppliedVolts = leftDriveMotorAppliedVolts;
     inputs.leftDriveMotorPosRad = leftDriveMotorSim.getAngularPositionRad();
     inputs.leftDriveMotorVelocityRadPerSec = leftDriveMotorSim.getAngularVelocityRadPerSec();
-    
+
     inputs.rightDriveMotorAppliedVolts = rightDriveMotorAppliedVolts;
     inputs.rightDriveMotorPosRad = rightDriveMotorSim.getAngularPositionRad();
     inputs.rightDriveMotorVelocityRadPerSec = rightDriveMotorSim.getAngularVelocityRadPerSec();

diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIOTalonFX.java b/AdvKit2024/src/main/java/frc/robot/subsystems/drive/DriveIOTalonFX.java
@@ -7,7 +7,6 @@
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-
 import edu.wpi.first.math.util.Units;
 
 public class DriveIOTalonFX implements DriveIO {
@@ -23,25 +22,29 @@ public class DriveIOTalonFX implements DriveIO {
   private StatusSignal<Double> leftDriveMotorPosRad = leftDriveMotor.getPosition();
   private StatusSignal<Double> leftDriveMotorVelocityRadPerSec = leftDriveMotor.getVelocity();
   private StatusSignal<Double> leftDriveMotorAppliedVolts = leftDriveMotor.getMotorVoltage();
-  
+
   private StatusSignal<Double> rightDriveMotorPosRad = rightDriveMotor.getPosition();
   private StatusSignal<Double> rightDriveMotorVelocityRadPerSec = rightDriveMotor.getVelocity();
   private StatusSignal<Double> rightDriveMotorAppliedVolts = rightDriveMotor.getMotorVoltage();
 
   public DriveIOTalonFX() {
     leftDriveMotor.setInverted(false);
     rightDriveMotor.setInverted(true);
-    leftDriveMotor.getConfigurator().apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
-    rightDriveMotor.getConfigurator().apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
+    leftDriveMotor
+        .getConfigurator()
+        .apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
+    rightDriveMotor
+        .getConfigurator()
+        .apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
 
     BaseStatusSignal.setUpdateFrequencyForAll(
-      60,
-      leftDriveMotorPosRad,
-      leftDriveMotorVelocityRadPerSec,
-      leftDriveMotorAppliedVolts,
-      rightDriveMotorPosRad,
-      rightDriveMotorVelocityRadPerSec,
-      rightDriveMotorAppliedVolts);
+        60,
+        leftDriveMotorPosRad,
+        leftDriveMotorVelocityRadPerSec,
+        leftDriveMotorAppliedVolts,
+        rightDriveMotorPosRad,
+        rightDriveMotorVelocityRadPerSec,
+        rightDriveMotorAppliedVolts);
     leftDriveMotor.optimizeBusUtilization();
     rightDriveMotor.optimizeBusUtilization();
   }
@@ -61,20 +64,22 @@ public void setDriveVoltage(double leftVolts, double rightVolts) {
   @Override
   public void updateInputs(DriveIOInputs inputs) {
     BaseStatusSignal.refreshAll(
-      leftDriveMotorPosRad,
-      leftDriveMotorVelocityRadPerSec,
-      leftDriveMotorAppliedVolts,
-      rightDriveMotorPosRad,
-      rightDriveMotorVelocityRadPerSec,
-      rightDriveMotorAppliedVolts
-    );
+        leftDriveMotorPosRad,
+        leftDriveMotorVelocityRadPerSec,
+        leftDriveMotorAppliedVolts,
+        rightDriveMotorPosRad,
+        rightDriveMotorVelocityRadPerSec,
+        rightDriveMotorAppliedVolts);
 
     inputs.leftDriveMotorAppliedVolts = leftDriveMotorAppliedVolts.getValueAsDouble();
     inputs.leftDriveMotorPosRad = Units.rotationsToRadians(leftDriveMotorPosRad.getValueAsDouble());
-    inputs.leftDriveMotorVelocityRadPerSec = Units.rotationsToRadians(leftDriveMotorVelocityRadPerSec.getValueAsDouble());
+    inputs.leftDriveMotorVelocityRadPerSec =
+        Units.rotationsToRadians(leftDriveMotorVelocityRadPerSec.getValueAsDouble());
 
     inputs.rightDriveMotorAppliedVolts = rightDriveMotorAppliedVolts.getValueAsDouble();
-    inputs.rightDriveMotorPosRad = Units.rotationsToRadians(rightDriveMotorPosRad.getValueAsDouble());
-    inputs.rightDriveMotorVelocityRadPerSec = Units.rotationsToRadians(rightDriveMotorVelocityRadPerSec.getValueAsDouble());
+    inputs.rightDriveMotorPosRad =
+        Units.rotationsToRadians(rightDriveMotorPosRad.getValueAsDouble());
+    inputs.rightDriveMotorVelocityRadPerSec =
+        Units.rotationsToRadians(rightDriveMotorVelocityRadPerSec.getValueAsDouble());
   }
 }
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/Intake.java b/AdvKit2024/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -2,11 +2,10 @@
 
 import static frc.robot.Constants.driverController;
 
-import org.littletonrobotics.junction.Logger;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
 
 public class Intake extends SubsystemBase {
   private IntakeIO intakeIO;
@@ -25,9 +24,8 @@ public void periodic() {
 
   public Command intakeCommand() {
     return Commands.sequence(
-      runOnce(() -> intakeIO.setIntakeVoltage(2.0)),
-      Commands.waitSeconds(2.0),
-      runOnce(() -> intakeIO.setIntakeVoltage(0.0))
-    );
+        runOnce(() -> intakeIO.setIntakeVoltage(2.0)),
+        Commands.waitSeconds(2.0),
+        runOnce(() -> intakeIO.setIntakeVoltage(0.0)));
   }
 }
diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -10,7 +10,7 @@ public static class IntakeIOInputs {
     public double intakeVelocityRadPerSec = 0.0;
   }
 
-  public default void updateInputs(IntakeIOInputs inputs) {} 
+  public default void updateInputs(IntakeIOInputs inputs) {}
 
   public default void setIntakeVelocity(double velocityRadPerSec) {}
 

diff --git a/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/AdvKit2024/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -16,8 +16,9 @@ public class IntakeIOSim implements IntakeIO {
   @Override
   public void setIntakeVelocity(double velocityRadPerSec) {
     intakeMotorSim.setInputVoltage(
-      intakeFeedforward.calculate(velocityRadPerSec) + intakeController.calculate(intakeMotorSim.getAngularVelocityRadPerSec(), velocityRadPerSec)
-    );
+        intakeFeedforward.calculate(velocityRadPerSec)
+            + intakeController.calculate(
+                intakeMotorSim.getAngularVelocityRadPerSec(), velocityRadPerSec));
   }
 
   @Override
@@ -33,5 +34,4 @@ public void updateInputs(IntakeIOInputs inputs) {
     inputs.intakePosRad = intakeMotorSim.getAngularPositionRad();
     inputs.intakeVelocityRadPerSec = intakeMotorSim.getAngularVelocityRadPerSec();
   }
-
 }