Create CI workflows (#20)

# Description

Created a lint workflow to check any format errors, a format workflow to
format any code automatically that's pushed to main, and a build
workflow to check if code builds properly without errors. This is linked
to #2

## Type of change

Please delete options that are not relevant.

- [ ] Bug fix (non-breaking change which fixes an issue)
- [x] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- [ ] This change requires a documentation update

# Checklist:

- [x] My code follows the style guidelines of this project
- [x] I have performed a self-review of my code
- [x] I have commented my code, particularly in hard-to-understand areas
- [x] I have made corresponding changes to the documentation, if any
- [x] My changes generate no new warnings
- [x] I have performed tests that prove my fix is effective or that my
feature works, if necessary
- [x] New and existing unit tests pass locally with my changes

---------

Co-authored-by: github-actions <>

.github/workflows/build.yml

@@ -0,0 +1,30 @@
+name: Build
+
+# Controls when the action will run. Triggers the workflow on push to all branches.
+on: [ push ]
+
+jobs:
+
+  # Build our code to see if it can be deployed without errors
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
+
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v3
+
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    # Grant execute permission for gradlew
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+
+    # Runs a single command using the runners shell
+    - name: Compile and run tests on robot code
+      run: ./gradlew build

.github/workflows/format.yml

@@ -0,0 +1,22 @@
+name: Format
+
+on:
+  pull_request:
+    branches:
+      - main
+      - 2024-beta
+
+jobs:
+
+  formatting:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.ref }}
+      - uses: axel-op/googlejavaformat-action@v3
+        with:
+          args: "--skip-sorting-imports --replace"

src/main/java/frc/robot/CommandSwerveDrivetrain.java

@@ -20,66 +20,80 @@
 import edu.wpi.first.wpilibj2.command.Subsystem;
 
 /**
- * Class that extends the Phoenix SwerveDrivetrain class and implements subsystem
- * so it can be used in command-based projects easily.
+ * Class that extends the Phoenix SwerveDrivetrain class and implements subsystem so it can be used
+ * in command-based projects easily.
  */
 public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsystem {
-    private SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
-    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
-        super(driveTrainConstants, OdometryUpdateFrequency, modules);
-        configurePathPlanner();
-    }
-    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
-        super(driveTrainConstants, modules);
-        configurePathPlanner();
-    }
+  private SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
 
-    private void configurePathPlanner() {
-        AutoBuilder.configureHolonomic(
-            ()->this.getState().Pose, // Supplier of current robot pose
-            this::seedFieldRelative,  // Consumer for seeding pose against auto
-            this::getCurrentRobotChassisSpeeds,
-            (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
-            new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
-                                            new PIDConstants(10, 0, 0),
-                                            1,
-                                            1,
-                                            new ReplanningConfig(),
-                                            0.004),
-            this); // Subsystem for requirements
-    }
+  public CommandSwerveDrivetrain(
+      SwerveDrivetrainConstants driveTrainConstants,
+      double OdometryUpdateFrequency,
+      SwerveModuleConstants... modules) {
+    super(driveTrainConstants, OdometryUpdateFrequency, modules);
+    configurePathPlanner();
+  }
 
-    public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
-        return new RunCommand(()->{this.setControl(requestSupplier.get());}, this);
-    }
+  public CommandSwerveDrivetrain(
+      SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
+    super(driveTrainConstants, modules);
+    configurePathPlanner();
+  }
 
-    public Command getAutoPath(String pathName) {
-        return new PathPlannerAuto(pathName);
-    }
+  private void configurePathPlanner() {
+    AutoBuilder.configureHolonomic(
+        () -> this.getState().Pose, // Supplier of current robot pose
+        this::seedFieldRelative, // Consumer for seeding pose against auto
+        this::getCurrentRobotChassisSpeeds,
+        (speeds) ->
+            this.setControl(
+                autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
+        new HolonomicPathFollowerConfig(
+            new PIDConstants(10, 0, 0),
+            new PIDConstants(10, 0, 0),
+            1,
+            1,
+            new ReplanningConfig(),
+            0.004),
+        this); // Subsystem for requirements
+  }
 
-    @Override
-    public void simulationPeriodic() {
-        /* Assume  */
-        updateSimState(0.02, 12);
-    }
-    /**
-     * Takes the specified location and makes it the current pose for
-     * field-relative maneuvers
-     *
-     * @param location Pose to make the current pose at.
-     */
-    @Override
-    public void seedFieldRelative(Pose2d location) {
-        try {
-            m_stateLock.writeLock().lock();
+  public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
+    return new RunCommand(
+        () -> {
+          this.setControl(requestSupplier.get());
+        },
+        this);
+  }
 
-            m_odometry.resetPosition(Rotation2d.fromDegrees(m_pigeon2.getYaw().getValue()), m_modulePositions, location);
-        } finally {
-            m_stateLock.writeLock().unlock();
-        }
-    }
+  public Command getAutoPath(String pathName) {
+    return new PathPlannerAuto(pathName);
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    /* Assume  */
+    updateSimState(0.02, 12);
+  }
 
-    public ChassisSpeeds getCurrentRobotChassisSpeeds() {
-        return m_kinematics.toChassisSpeeds(getState().ModuleStates);
+  /**
+   * Takes the specified location and makes it the current pose for field-relative maneuvers
+   *
+   * @param location Pose to make the current pose at.
+   */
+  @Override
+  public void seedFieldRelative(Pose2d location) {
+    try {
+      m_stateLock.writeLock().lock();
+
+      m_odometry.resetPosition(
+          Rotation2d.fromDegrees(m_pigeon2.getYaw().getValue()), m_modulePositions, location);
+    } finally {
+      m_stateLock.writeLock().unlock();
     }
+  }
+
+  public ChassisSpeeds getCurrentRobotChassisSpeeds() {
+    return m_kinematics.toChassisSpeeds(getState().ModuleStates);
+  }
 }