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 int DRIVE_LEFT_A = 0;
+ public static final int DRIVE_LEFT_B = 1;
+ public static final int DRIVE_RIGHT_A = 2;
+ public static final int DRIVE_RIGHT_B = 3;
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/Main.java b/src/main/java/com/scra/codelabs/gitflow/Main.java
new file mode 100644
index 0000000..56d0134
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/Main.java
@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.scra.codelabs.gitflow;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization method. Do not perform any initialization here.
+ *
+ * If you change your main Robot class (name), change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/Robot.java b/src/main/java/com/scra/codelabs/gitflow/Robot.java
new file mode 100644
index 0000000..4ee344f
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/Robot.java
@@ -0,0 +1,122 @@
+// Copyright (c) FIRST and other WPILib contributors.
+
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.scra.codelabs.gitflow;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+
+/**
+ * The VM is configured to automatically run this class, and to call the methods corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+
+ /**
+ * This method 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();
+ }
+
+
+ /**
+ * This method 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.
+ *
+ *
This runs after the mode specific periodic methods, but before LiveWindow and
+ * SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // 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();
+ }
+
+
+ /**
+ * This method is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+
+ /**
+ * This method is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+
+ @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();
+ }
+ }
+
+
+ /**
+ * This method is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+
+ /**
+ * This method is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/RobotContainer.java b/src/main/java/com/scra/codelabs/gitflow/RobotContainer.java
new file mode 100644
index 0000000..967c16d
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/RobotContainer.java
@@ -0,0 +1,90 @@
+// Copyright (c) FIRST and other WPILib contributors.
+
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.scra.codelabs.gitflow;
+
+import com.scra.codelabs.gitflow.commands.PJExampleCommand;
+import com.scra.codelabs.gitflow.commands.TeleopDriveCommand;
+import com.scra.codelabs.gitflow.subsystems.ChassisSubsystem;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
+ */
+@SuppressWarnings("PMD.UnusedPrivateField")
+public class RobotContainer {
+ private static final String DRIVETRAIN_NAME = "m_drivetrain";
+
+ private PJExampleCommand m_pjExample;
+
+ ///////////////////////////////////////
+ // Don't touch things below here
+ ///////////////////////////////////////
+
+ private final ChassisSubsystem m_drivetrain;
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ m_drivetrain = new ChassisSubsystem();
+
+ Field[] fields = RobotContainer.class.getDeclaredFields();
+
+ List sortedNames = new ArrayList<>();
+ for (Field field : fields) {
+ if (!DRIVETRAIN_NAME.equals(field.getName())) {
+ sortedNames.add(field.getType().getName());
+ }
+ }
+
+ sortedNames.sort(String::compareTo);
+
+ System.out.println("\n\n\n\n********************************************************");
+ for (String className : sortedNames) {
+ try {
+ Class clazz = Class.forName(className);
+ clazz.getDeclaredConstructor().newInstance();
+ } catch (ClassNotFoundException | IllegalAccessException | InstantiationException | NoSuchMethodException | InvocationTargetException e) {
+ e.printStackTrace(); // NOPMD
+ }
+ }
+ System.out.println("********************************************************\n\n\n\n");
+
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ m_drivetrain.setDefaultCommand(new TeleopDriveCommand(m_drivetrain));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return null;
+ }
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/commands/PJExampleCommand.java b/src/main/java/com/scra/codelabs/gitflow/commands/PJExampleCommand.java
new file mode 100644
index 0000000..1215426
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/commands/PJExampleCommand.java
@@ -0,0 +1,15 @@
+package com.scra.codelabs.gitflow.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+
+public class PJExampleCommand extends CommandBase {
+
+ public PJExampleCommand() {
+ // each subsystem used by the command must be passed into the
+ // addRequirements() method (which takes a vararg of Subsystem)
+ addRequirements();
+
+ System.out.println("PJ makes an example");
+ }
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/commands/TeleopDriveCommand.java b/src/main/java/com/scra/codelabs/gitflow/commands/TeleopDriveCommand.java
new file mode 100644
index 0000000..f878444
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/commands/TeleopDriveCommand.java
@@ -0,0 +1,38 @@
+package com.scra.codelabs.gitflow.commands;
+
+import com.scra.codelabs.gitflow.subsystems.ChassisSubsystem;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+
+public class TeleopDriveCommand extends CommandBase {
+ private final XboxController m_joystick;
+ private final ChassisSubsystem m_chassisSubsystem;
+
+ public TeleopDriveCommand(ChassisSubsystem chassisSubsystem) {
+ m_chassisSubsystem = chassisSubsystem;
+ m_joystick = new XboxController(0);
+
+ addRequirements(this.m_chassisSubsystem);
+ }
+
+ @Override
+ public void initialize() {
+
+ }
+
+ @Override
+ public void execute() {
+ m_chassisSubsystem.arcadeDrive(-m_joystick.getLeftY(), m_joystick.getRightX());
+ }
+
+ @Override
+ public boolean isFinished() {
+ return false;
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+
+ }
+}
diff --git a/src/main/java/com/scra/codelabs/gitflow/subsystems/ChassisSubsystem.java b/src/main/java/com/scra/codelabs/gitflow/subsystems/ChassisSubsystem.java
new file mode 100644
index 0000000..ab8ad78
--- /dev/null
+++ b/src/main/java/com/scra/codelabs/gitflow/subsystems/ChassisSubsystem.java
@@ -0,0 +1,41 @@
+package com.scra.codelabs.gitflow.subsystems;
+
+
+import com.scra.codelabs.gitflow.Constants;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ChassisSubsystem extends SubsystemBase {
+
+ private final MotorController m_leftDriveA;
+ private final MotorController m_rightDriveA;
+
+ private final DifferentialDrive m_differentialDrive;
+
+ @SuppressWarnings("PMD.CloseResource")
+ public ChassisSubsystem() {
+
+ m_leftDriveA = new Talon(Constants.DRIVE_LEFT_A);
+ m_rightDriveA = new Talon(Constants.DRIVE_RIGHT_A);
+
+ MotorController leftDriveB = new Talon(Constants.DRIVE_LEFT_B);
+ MotorController rightDriveB = new Talon(Constants.DRIVE_RIGHT_B);
+
+ m_differentialDrive = new DifferentialDrive(new MotorControllerGroup(m_leftDriveA, leftDriveB),
+ new MotorControllerGroup(m_rightDriveA, rightDriveB));
+ }
+
+ public void arcadeDrive(double speed, double steer) {
+ m_differentialDrive.arcadeDrive(speed, steer);
+ }
+
+ @Override
+ public void periodic() {
+ SmartDashboard.putNumber("Left Drive", m_leftDriveA.get());
+ SmartDashboard.putNumber("Right Drive", m_rightDriveA.get());
+ }
+}
diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml
new file mode 100644
index 0000000..b6983ec
--- /dev/null
+++ b/styleguide/checkstyle.xml
@@ -0,0 +1,244 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml
new file mode 100644
index 0000000..e1edfde
--- /dev/null
+++ b/styleguide/pmd-ruleset.xml
@@ -0,0 +1,114 @@
+
+
+
+ PMD Ruleset for Girls of Steel
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/styleguide/spotless.gradle b/styleguide/spotless.gradle
new file mode 100644
index 0000000..82869d0
--- /dev/null
+++ b/styleguide/spotless.gradle
@@ -0,0 +1,47 @@
+
+apply plugin: 'com.diffplug.spotless'
+
+
+spotless {
+ java {
+ target fileTree('.') {
+ include '**/*.java'
+ exclude '**/build/**', '**/build-*/**', 'bazel-*/**', '**/venv/**'
+ }
+ toggleOffOn()
+ indentWithSpaces(4)
+ removeUnusedImports()
+ trimTrailingWhitespace()
+ endWithNewline()
+ }
+ groovyGradle {
+ target fileTree('.') {
+ include '**/*.gradle'
+ exclude '**/build/**', '**/build-*/**', 'bazel-*/**', '**/venv/**'
+ }
+ greclipse()
+ indentWithSpaces(4)
+ trimTrailingWhitespace()
+ endWithNewline()
+ }
+ format 'xml', {
+ target fileTree('.') {
+ include '**/*.xml'
+ include '**/*.fxml'
+ exclude '**/build/**', '**/build-*/**', '**/bazel-*/**', '**/.idea/**', '**/.run/**', '**/venv/**'
+ }
+ eclipseWtp('xml')
+ trimTrailingWhitespace()
+ indentWithSpaces(4)
+ endWithNewline()
+ }
+ format 'misc', {
+ target fileTree('.') {
+ include '**/*.md', '**/.gitignore', "**/*.yml", "**/*.yaml"
+ exclude '**/build/**', '**/build-*/**', 'bazel-*/**', '**/venv/**'
+ }
+ trimTrailingWhitespace()
+ indentWithSpaces(4)
+ endWithNewline()
+ }
+}
diff --git a/styleguide/styleguide.gradle b/styleguide/styleguide.gradle
new file mode 100644
index 0000000..f982586
--- /dev/null
+++ b/styleguide/styleguide.gradle
@@ -0,0 +1,18 @@
+
+apply plugin: 'checkstyle'
+apply plugin: 'pmd'
+
+checkstyle {
+ toolVersion = "10.0"
+ configDirectory.set(file("${project.rootDir}/styleguide"))
+}
+
+pmd {
+ toolVersion = '6.43.0'
+ consoleOutput = true
+ reportsDir = file("${project.buildDir}/reports/pmd")
+ ruleSetFiles = files(file("$rootDir/styleguide/pmd-ruleset.xml"))
+ ruleSets = []
+}
+
+// apply from: "${rootDir}/styleguide/spotless.gradle"
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
new file mode 100644
index 0000000..d7bd9b0
--- /dev/null
+++ b/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,37 @@
+{
+ "fileName": "WPILibNewCommands.json",
+ "name": "WPILib-New-Commands",
+ "version": "2020.0.0",
+ "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+ "mavenUrls": [],
+ "jsonUrl": "",
+ "javaDependencies": [
+ {
+ "groupId": "edu.wpi.first.wpilibNewCommands",
+ "artifactId": "wpilibNewCommands-java",
+ "version": "wpilib"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "edu.wpi.first.wpilibNewCommands",
+ "artifactId": "wpilibNewCommands-cpp",
+ "version": "wpilib",
+ "libName": "wpilibNewCommands",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "linuxaarch64bionic",
+ "windowsx86-64",
+ "windowsx86",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ }
+ ]
+}