limelight

.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/java
+{
+	"name": "Java",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "mcr.microsoft.com/devcontainers/java:1-17-bookworm",
+
+	"features": {
+		"ghcr.io/devcontainers/features/java:1": {
+			"version": "none",
+			"installMaven": "false",
+			"installGradle": "true"
+		}
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "",
+
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"redhat.java",
+				"ms-vscode.cpptools",
+				"vcjava.vscode-java-debug",
+				"ms-toolsai.jupyter",
+				"vcjava.vscode-java-dependency"
+			]
+		}
+	},
+
+	"postAttachCommand": "./.devcontainer/installWPILibExtension.sh && exit"
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}

.devcontainer/installWPILibExtension.sh

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+# Modified from ChatGPT suggestions
+WPILIB_VSIX_URL=$(curl -s "https://api.github.com/repos/wpilibsuite/vscode-wpilib/releases/latest" | jq -r '.assets[] | select(.name | test(".vsix$")) | .browser_download_url')
+INSTALL_LOCATION="/tmp/wpilib-extension/latest.vsix"
+echo "$WPILIB_VSIX_URL"
+curl --create-dirs -L -o "$INSTALL_LOCATION" "$WPILIB_VSIX_URL"
+code --install-extension "$INSTALL_LOCATION"
+

.pathplanner/settings.json

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+{
+    "robotWidth": 0.9,
+    "robotLength": 0.9,
+    "holonomicMode": true,
+    "pathFolders": [
+      "Center Limelight 4 Piece"
+    ],
+    "autoFolders": [],
+    "defaultMaxVel": 3.0,
+    "defaultMaxAccel": 3.0,
+    "defaultMaxAngVel": 540.0,
+    "defaultMaxAngAccel": 720.0,
+    "maxModuleSpeed": 4.5
+  }

.vscode/settings.json

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+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}

.wpilib/wpilib_preferences.json

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+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024",
+    "teamNumber": 199
+}

src/main/java/org/carlmontrobotics/BuildInfo.java

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+package org.carlmontrobotics;
+
+import java.util.Properties;
+import java.io.File;
+import java.io.InputStream;
+import java.nio.file.Path;
+import java.nio.file.Files;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.Filesystem;
+
+public class BuildInfo implements Sendable {
+    private Properties props = new Properties();
+
+    static private BuildInfo instance = null;
+
+    public static BuildInfo getInstance() {
+        if (instance == null) {
+            instance = new BuildInfo();
+        }
+        return instance;
+    }
+
+    private BuildInfo() {
+        Path path = Path
+                .of(Filesystem.getDeployDirectory().getAbsolutePath() + File.separator + "BuildInfo.properties");
+        try (InputStream is = Files.newInputStream(path)) {
+            props.load(is);
+        } catch (Exception ex) {
+            System.err.println("Error reading build properties from %s".formatted(path));
+        }
+    }
+
+    @Override
+    public void initSendable(SendableBuilder builder) {
+        props.stringPropertyNames().forEach(name -> {
+            var value = props.getProperty(name);
+            // Workaround bug (https://github.com/lessthanoptimal/gversion-plugin/pull/14)
+            // where the gversion plugin surrounds values with quotes.
+            value = value.replaceAll("\"", "");
+            builder.publishConstString(name, value);
+        });
+    }
+}

src/main/java/org/carlmontrobotics/Config.java

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+package org.carlmontrobotics;
+
+import java.lang.reflect.Method;
+import java.lang.reflect.Modifier;
+import java.util.ArrayList;
+import java.util.List;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+
+public abstract class Config implements Sendable {
+    public static final Config CONFIG = new Config() {
+        {
+            // Override config settings here, like this:
+            // this.exampleFlagEnabled = true;
+
+            // NOTE: PRs with overrides will NOT be merged because we don't want them
+            // polluting the master branch.
+            // Feel free to add them when testing, but remove them before pushing.
+        }
+    };
+
+    // Add additional config settings by declaring a protected field, and...
+    protected boolean exampleFlagEnabled = false;
+    protected boolean swimShady = false;
+    protected boolean setupSysId = false;
+    protected boolean useSmartDashboardControl = false; // whether to control arm position + rpm of
+                                                       // outtake through SmartDashboard
+                                                       // Note: disables joystick control of arm and
+                                                       // outtake command if
+                                                       // using SmartDashboard
+
+    // ...a public getter starting with "is" for booleans or "get" for other types.
+    // Do NOT remove this example. It is used by unit tests.
+
+    public boolean isExampleFlagEnabled() {
+        return exampleFlagEnabled;
+    }
+
+    public boolean isSwimShady() {
+        return swimShady;
+    }
+
+    public boolean isSysIdTesting() {
+        return setupSysId;
+    }
+
+    public boolean useSmartDashboardControl() {
+        return useSmartDashboardControl;
+    }
+
+    // --- For clarity, place additional config settings ^above^ this line ---
+
+    private static class MethodResult {
+        String methodName = null;
+        Object retVal = null;
+        Object defaultRetVal = null;
+
+        MethodResult(String name, Object retVal, Object defaultRetval) {
+            this.methodName = name;
+            this.retVal = retVal;
+            this.defaultRetVal = defaultRetval;
+        }
+    }
+
+    private List<MethodResult> getMethodResults() {
+        var methodResults = new ArrayList<MethodResult>();
+        var defaultConfig = new Config() {
+        };
+        for (Method m : Config.class.getDeclaredMethods()) {
+            var name = m.getName();
+            if (!Modifier.isPublic(m.getModifiers()) || m.isSynthetic() || m.getParameterCount() != 0
+                    || !name.matches("^(get|is)[A-Z].*")) {
+                continue;
+            }
+            Object retVal = null;
+            try {
+                retVal = m.invoke(this);
+            } catch (Exception ex) {
+                retVal = ex;
+            }
+            Object defaultRetVal = null;
+            try {
+                defaultRetVal = m.invoke(defaultConfig);
+            } catch (Exception ex) {
+                defaultRetVal = ex;
+            }
+            methodResults.add(new MethodResult(name, retVal, defaultRetVal));
+        }
+        return methodResults;
+    }
+
+    @Override
+    public void initSendable(SendableBuilder builder) {
+        getMethodResults().forEach(mr -> {
+            if (!mr.retVal.equals(mr.defaultRetVal)) {
+                builder.publishConstString("%s()".formatted(mr.methodName),
+                        String.format("%s (default is %s)", mr.retVal, mr.defaultRetVal));
+            }
+        });
+    }
+
+    @Override
+    public String toString() {
+        StringBuilder stringBuilder = new StringBuilder();
+        getMethodResults().forEach(mr -> {
+            if (!mr.retVal.equals(mr.defaultRetVal)) {
+                stringBuilder.append(
+                        String.format("%s() returns %s (default is %s)", mr.methodName, mr.retVal, mr.defaultRetVal));
+            }
+        });
+        if (stringBuilder.isEmpty()) {
+            stringBuilder.append("Using default config values");
+        } else {
+            stringBuilder.insert(0, "WARNING: USING OVERRIDDEN CONFIG VALUES\n");
+        }
+        return stringBuilder.toString();
+    }
+}