Added new logging and timeslice duration, added offseason branch chan…

…ges.

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-3"
+    id 'com.diffplug.spotless' version '6.6.1'
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -87,3 +88,19 @@ wpi.java.configureExecutableTasks(jar)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+spotless {
+    enforceCheck false
+
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        toggleOffOn()
+        palantirJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+}

src/main/java/frc/lib/controller/CustomXboxController.java

@@ -2,8 +2,9 @@
 
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+
 import java.util.HashMap;
 
 public class CustomXboxController {
@@ -52,6 +53,8 @@ public CustomXboxController(int port) {
         rightTrigger = new JoystickAxis(joystick, 3);
         rightXAxis = new JoystickAxis(joystick, 4);
         rightYAxis = new JoystickAxis(joystick, 5);
+
+        buttonPurposeHashMap.put("type", "CustomXboxController");
     }
 
     public Trigger getButtonA() {
@@ -189,4 +192,4 @@ public void nameRightXAxis(String purpose) {
     public void nameRightYAxis(String purpose) {
         buttonPurposeHashMap.put("rightYAxis", purpose);
     }
-}
+}

src/main/java/frc/lib/controller/LogitechController.java

@@ -1,11 +1,16 @@
 package frc.lib.controller;
 
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import java.util.HashMap;
+import java.util.Map;
+import java.util.stream.Collectors;
 
 public class LogitechController {
+    private int port;
+
     private final Joystick joystick;
 
     private final Trigger A;
@@ -38,6 +43,8 @@ public class LogitechController {
      * @param port The port the controller is on
      */
     public LogitechController(int port) {
+        this.port = port;
+
         joystick = new Joystick(port);
 
         A = new JoystickButton(joystick, 1);
@@ -66,6 +73,8 @@ public LogitechController(int port) {
         leftYAxis.setInverted(true);
         rightYAxis.setInverted(true);
         dPadYAxis.setInverted(true);
+
+        buttonPurposeHashMap.put("type", "LogitechController");
     }
 
     public Trigger getA() {
@@ -220,27 +229,47 @@ public void nameDPadLeft(String purpose) {
         buttonPurposeHashMap.put("dPadLeft", purpose);
     }
 
-    public void namLftXAxis(String purpose) {
+    public void nameLeftXAxis(String purpose) {
         buttonPurposeHashMap.put("leftXAxis", purpose);
     }
 
-    public void namLftYAxis(String purpose) {
+    public void nameLeftYAxis(String purpose) {
         buttonPurposeHashMap.put("leftYAxis", purpose);
     }
 
-    public void namRghtXAxis(String purpose) {
+    public void nameRightXAxis(String purpose) {
         buttonPurposeHashMap.put("rightXAxis", purpose);
     }
 
-    public void namRghtYAxis(String purpose) {
+    public void nameRightYAxis(String purpose) {
         buttonPurposeHashMap.put("rightYAxis", purpose);
     }
 
-    public void namDadXAxis(String purpose) {
+    public void nameDPadXAxis(String purpose) {
         buttonPurposeHashMap.put("dPadXAxis", purpose);
     }
 
-    public void namDadYAxis(String purpose) {
+    public void nameDPadYAxis(String purpose) {
         buttonPurposeHashMap.put("dPadYAxis", purpose);
     }
+
+    public void sendButtonNamesToNT() {
+        NetworkTableInstance.getDefault()
+                .getTable("Controllers")
+                .getEntry(port + "")
+                .setString(toJSON());
+    }
+
+    /**
+     * @return Button names as a JSON String
+     */
+    public String toJSON() {
+        return buttonPurposeHashMap.entrySet().stream()
+                .map((Map.Entry<String, String> buttonEntry) -> stringifyButtonName(buttonEntry))
+                .collect(Collectors.joining(", ", "{", "}"));
+    }
+
+    private String stringifyButtonName(Map.Entry<String, String> buttonEntry) {
+        return "\"" + buttonEntry.getKey() + "\": " + "\"" + buttonEntry.getValue() + "\"";
+    }
 }

src/main/java/frc/lib/controller/ThrustmasterJoystick.java

@@ -1,11 +1,16 @@
 package frc.lib.controller;
 
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import java.util.HashMap;
+import java.util.Map;
+import java.util.stream.Collectors;
 
 public class ThrustmasterJoystick {
+    private int port;
+
     private final Joystick joystick;
 
     private final Trigger trigger;
@@ -36,6 +41,8 @@ public class ThrustmasterJoystick {
      * @param port The port the controller is on
      */
     public ThrustmasterJoystick(int port) {
+        this.port = port;
+
         joystick = new Joystick(port);
 
         trigger = new JoystickButton(joystick, 1);
@@ -60,6 +67,8 @@ public ThrustmasterJoystick(int port) {
         zAxis = new JoystickAxis(joystick, 2);
         sliderAxis = new JoystickAxis(joystick, 3);
         sliderAxis.setInverted(true);
+
+        buttonPurposeHashMap.put("type", "ThrustmasterJoystick");
     }
 
     public Trigger getTrigger() {
@@ -221,4 +230,24 @@ public void nameZAxis(String purpose) {
     public void nameSliderAxis(String purpose) {
         buttonPurposeHashMap.put("sliderAxis", purpose);
     }
+
+    public void sendButtonNamesToNT() {
+        NetworkTableInstance.getDefault()
+                .getTable("Controllers")
+                .getEntry(port + "")
+                .setString(toJSON());
+    }
+
+    /**
+     * @return Button names as a JSON String
+     */
+    public String toJSON() {
+        return buttonPurposeHashMap.entrySet().stream()
+                .map((Map.Entry<String, String> buttonEntry) -> stringifyButtonName(buttonEntry))
+                .collect(Collectors.joining(", ", "{", "}"));
+    }
+
+    private String stringifyButtonName(Map.Entry<String, String> buttonEntry) {
+        return "\"" + buttonEntry.getKey() + "\": " + "\"" + buttonEntry.getValue() + "\"";
+    }
 }

src/main/java/frc/lib/loops/UpdateManager.java

@@ -1,6 +1,8 @@
 package frc.lib.loops;
 
 import edu.wpi.first.wpilibj.TimesliceRobot;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class UpdateManager {
     private TimesliceRobot robot;
@@ -9,7 +11,19 @@ public UpdateManager(TimesliceRobot robot) {
         this.robot = robot;
     }
 
-    public void schedule(Updatable subsystem, double updateTimeslice) {
-        robot.schedule(() -> subsystem.update(), updateTimeslice);
+    /**
+     * @param subsystem The subsystem getting registered.
+     */
+    public void schedule(Subsystem subsystem) {
+        CommandScheduler.getInstance().registerSubsystem(subsystem);
     }
-}
+
+    /**
+     * @param subsystem The subsystem getting registered.
+     * @param updateTimeslice The corresponding timeslice of the subsystem.
+     */
+    public void schedule(Subsystem subsystem, double updateTimeslice) {
+        schedule(subsystem);
+        robot.schedule(() -> ((Updatable) subsystem).update(), updateTimeslice);
+    }
+}

src/main/java/frc/lib/swerve/SwerveModule.java

@@ -3,7 +3,8 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.WPI_CANCoder;
+
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
@@ -14,9 +15,9 @@
 public class SwerveModule {
     public int moduleNumber;
     private double angleOffset;
-    private WPI_TalonFX mAngleMotor;
-    private WPI_TalonFX mDriveMotor;
-    private CANCoder angleEncoder;
+    private WPI_TalonFX angleMotor;
+    private WPI_TalonFX driveMotor;
+    private WPI_CANCoder angleEncoder;
     private double lastAngle;
     private boolean inverted;
 
@@ -31,18 +32,18 @@ public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants) {
 
         /* Angle Encoder Config */
         angleEncoder = moduleConstants.canivoreName.isEmpty()
-                ? new CANCoder(moduleConstants.cancoderID)
-                : new CANCoder(moduleConstants.cancoderID, moduleConstants.canivoreName.get());
+                ? new WPI_CANCoder(moduleConstants.cancoderID)
+                : new WPI_CANCoder(moduleConstants.cancoderID, moduleConstants.canivoreName.get());
         configAngleEncoder();
 
         /* Angle Motor Config */
-        mAngleMotor = moduleConstants.canivoreName.isEmpty()
+        angleMotor = moduleConstants.canivoreName.isEmpty()
                 ? new WPI_TalonFX(moduleConstants.angleMotorID)
                 : new WPI_TalonFX(moduleConstants.angleMotorID, moduleConstants.canivoreName.get());
         configAngleMotor();
 
         /* Drive Motor Config */
-        mDriveMotor = moduleConstants.canivoreName.isEmpty()
+        driveMotor = moduleConstants.canivoreName.isEmpty()
                 ? new WPI_TalonFX(moduleConstants.driveMotorID)
                 : new WPI_TalonFX(moduleConstants.driveMotorID, moduleConstants.canivoreName.get());
         configDriveMotor();
@@ -59,13 +60,13 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)
 
         if (isOpenLoop) {
             double percentOutput = desiredState.speedMetersPerSecond / Constants.SwerveConstants.maxSpeed;
-            mDriveMotor.set(ControlMode.PercentOutput, percentOutput);
+            driveMotor.set(ControlMode.PercentOutput, percentOutput);
         } else {
             double velocity = Conversions.MPSToFalcon(
                     desiredState.speedMetersPerSecond,
                     Constants.SwerveConstants.wheelCircumference,
                     Constants.SwerveConstants.driveGearRatio);
-            mDriveMotor.set(
+            driveMotor.set(
                     ControlMode.Velocity,
                     velocity,
                     DemandType.ArbitraryFeedForward,
@@ -76,15 +77,15 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)
                 ? lastAngle
                 : desiredState.angle
                         .getDegrees(); // Prevent rotating module if speed is less then 1%. Prevents Jittering.
-        mAngleMotor.set(
+        angleMotor.set(
                 ControlMode.Position, Conversions.degreesToFalcon(angle, Constants.SwerveConstants.angleGearRatio));
         lastAngle = angle;
     }
 
     public void resetToAbsolute() {
         double absolutePosition = Conversions.degreesToFalcon(
                 getCanCoder().getDegrees() - angleOffset, Constants.SwerveConstants.angleGearRatio);
-        mAngleMotor.setSelectedSensorPosition(absolutePosition);
+        angleMotor.setSelectedSensorPosition(absolutePosition);
     }
 
     private void configAngleEncoder() {
@@ -93,21 +94,21 @@ private void configAngleEncoder() {
     }
 
     private void configAngleMotor() {
-        mAngleMotor.configFactoryDefault();
-        mAngleMotor.configAllSettings(Robot.ctreConfigs.swerveAngleFXConfig);
-        mAngleMotor.setInverted(Constants.SwerveConstants.angleMotorInvert);
-        mAngleMotor.setNeutralMode(Constants.SwerveConstants.angleNeutralMode);
-        mAngleMotor.enableVoltageCompensation(true);
+        angleMotor.configFactoryDefault();
+        angleMotor.configAllSettings(Robot.ctreConfigs.swerveAngleFXConfig);
+        angleMotor.setInverted(Constants.SwerveConstants.angleMotorInvert);
+        angleMotor.setNeutralMode(Constants.SwerveConstants.angleNeutralMode);
+        angleMotor.enableVoltageCompensation(true);
         resetToAbsolute();
     }
 
     private void configDriveMotor() {
-        mDriveMotor.configFactoryDefault();
-        mDriveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveFXConfig);
-        mDriveMotor.setNeutralMode(Constants.SwerveConstants.driveNeutralMode);
-        mDriveMotor.setSelectedSensorPosition(0);
-        mDriveMotor.enableVoltageCompensation(true);
-        mDriveMotor.setInverted(inverted);
+        driveMotor.configFactoryDefault();
+        driveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveFXConfig);
+        driveMotor.setNeutralMode(Constants.SwerveConstants.driveNeutralMode);
+        driveMotor.setSelectedSensorPosition(0);
+        driveMotor.enableVoltageCompensation(true);
+        driveMotor.setInverted(inverted);
     }
 
     public Rotation2d getCanCoder() {
@@ -116,19 +117,19 @@ public Rotation2d getCanCoder() {
 
     public SwerveModuleState getState() {
         double velocity = Conversions.falconToMPS(
-                mDriveMotor.getSelectedSensorVelocity(),
+                driveMotor.getSelectedSensorVelocity(),
                 Constants.SwerveConstants.wheelCircumference,
                 Constants.SwerveConstants.driveGearRatio);
         Rotation2d angle = Rotation2d.fromDegrees(Conversions.falconToDegrees(
-                mAngleMotor.getSelectedSensorPosition(), Constants.SwerveConstants.angleGearRatio));
+                angleMotor.getSelectedSensorPosition(), Constants.SwerveConstants.angleGearRatio));
         return new SwerveModuleState(velocity, angle);
     }
 
     public double getDriveTemperature() {
-        return mDriveMotor.getTemperature();
+        return driveMotor.getTemperature();
     }
 
     public double getSteerTemperature() {
-        return mAngleMotor.getTemperature();
+        return angleMotor.getTemperature();
     }
 }