Add elevator

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2025beta",
-    "teamNumber": 401
+    "teamNumber": 9999
 }

build.gradle

@@ -1,42 +1,43 @@
 plugins {
-    id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+	id "java"
+	id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+	id "com.diffplug.spotless" version "6.24.0"
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
 }
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
+	targets {
+		roborio(getTargetTypeClass('RoboRIO')) {
+			// Team number is loaded either from the .wpilib/wpilib_preferences.json
+			// or from command line. If not found an exception will be thrown.
+			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
+			// want to store a team number in this file.
+			team = project.frc.getTeamNumber()
+			debug = project.frc.getDebugOrDefault(false)
+
+			artifacts {
+				// First part is artifact name, 2nd is artifact type
+				// getTargetTypeClass is a shortcut to get the class type using a string
+
+				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+				}
+
+				// Static files artifact
+				frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+					files = project.fileTree('src/main/deploy')
+					directory = '/home/lvuser/deploy'
+				}
+			}
+		}
+	}
 }
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
@@ -47,34 +48,86 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+repositories {
+	maven {
+		url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+		credentials {
+			username = "Mechanical-Advantage-Bot"
+			password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+		}
+	}
+	mavenLocal()
+}
+
+spotless {
+	// optional: limit format enforcement to just the files changed by this feature branch
+	ratchetFrom 'origin/main'
+
+	format 'misc', {
+		// define the files to apply `misc` to
+		target '*.gradle', '.gitattributes', '.gitignore'
+
+		// define the steps to apply to those files
+		trimTrailingWhitespace()
+		indentWithTabs() // or spaces. Takes an integer argument if you don't like 4
+		endWithNewline()
+	}
+	java {
+		// don't need to set target, it is inferred from java
+		// Allow ignoring certain parts in formatting.
+		toggleOffOn()
+		// apply a specific flavor of google-java-format
+		googleJavaFormat('1.19.2').aosp().reflowLongStrings()
+		// fix formatting of type annotations
+		formatAnnotations()
+	}
+}
+
+// Automatically format code on build.
+compileJava.dependsOn 'spotlessApply'
+
+configurations.all {
+	exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+	mainClass = "org.littletonrobotics.junction.CheckInstall"
+	classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
-    annotationProcessor wpi.java.deps.wpilibAnnotations()
-    implementation wpi.java.deps.wpilib()
-    implementation wpi.java.vendor.java()
+	annotationProcessor wpi.java.deps.wpilibAnnotations()
+	implementation wpi.java.deps.wpilib()
+	implementation wpi.java.vendor.java()
+
+	roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+	roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+	roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+	roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+	nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+	nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+	simulationDebug wpi.sim.enableDebug()
 
-    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
-    simulationDebug wpi.sim.enableDebug()
+	nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+	simulationRelease wpi.sim.enableRelease()
 
-    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    simulationRelease wpi.sim.enableRelease()
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+	// Advantagekit annotation processor!
+	def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+	annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -85,10 +138,10 @@ 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 sourceSets.main.allSource
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+	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
 }
 
 // Configure jar and deploy tasks
@@ -98,5 +151,5 @@ wpi.java.configureTestTasks(test)
 
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
-    options.compilerArgs.add '-XDstringConcat=inline'
+	options.compilerArgs.add '-XDstringConcat=inline'
 }

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "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
+    }
+  ]
+}

src/main/java/frc/robot/InitSubsystems.java

@@ -0,0 +1,23 @@
+package frc.robot;
+
+import frc.robot.constants.ModeConstants;
+import frc.robot.subsystems.elevator.ElevatorIOSim;
+import frc.robot.subsystems.elevator.ElevatorIOTalonFX;
+import frc.robot.subsystems.elevator.ElevatorMechanism;
+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+public final class InitSubsystems {
+    public static ElevatorSubsystem initElevatorSubsystem() {
+        switch (ModeConstants.currentMode) {
+            case REAL:
+                return new ElevatorSubsystem(new ElevatorMechanism(new ElevatorIOTalonFX()));
+            case SIM:
+                return new ElevatorSubsystem(new ElevatorMechanism(new ElevatorIOSim()));
+            case REPLAY:
+                throw new UnsupportedOperationException("Elevator replay is not yet implemented.");
+            default:
+                throw new UnsupportedOperationException(
+                        "Non-exhaustive list of mode types supported in InitSubsystems");
+        }
+    }
+}