Merge branch 'main' into autonomous-movment

.github/workflows/ci.yml

@@ -1,13 +1,54 @@
 name: CI
+
 on:
+    # Run this workflow whenever code is pushed to any branch
     - push
+    # Allow this workflow to ma manually run from GitHub.com
     - workflow_dispatch
 
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
+    # This Job will check the code formatting using Prettier
     lint:
         name: Prettier
+
+        # This job will run on an Ubuntu Linux computer
+        runs-on: ubuntu-latest
+
+        # Steps represent a sequence of tasks that will be executed as part of the job
+        steps:
+            # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+            - uses: actions/checkout@v4
+
+            # Installes prettier from package.json
+            - name: Install NPM dependacise
+              run: npm ci
+
+            # Run Prettier
+            - name: Run Prettier
+              run: npx prettier -c .
+
+    # This Job will try to compile the Java code
+    build:
+        # This job will run on an Ubuntu Linux computer
         runs-on: ubuntu-latest
+
+        # This grabs the WPILib docker container
+        container: wpilib/roborio-cross-ubuntu:2024-22.04
+
+        # Steps represent a sequence of tasks that will be executed as part of the job
         steps:
+            # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
             - uses: actions/checkout@v4
-            - run: npm ci
-            - run: npx prettier -c .
+
+            # 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

.prettierignore

@@ -0,0 +1,2 @@
+# These files are auto generated by the WPILib VSCode extention
+vendordeps/

src/main/java/frc/robot/QuickActions.java

@@ -46,7 +46,6 @@ public static void resetDriveTrainEncoders() {
         leftParent.setEncoderPosition(0.0);
         rightParent.setEncoderPosition(0.0);
     }
-
     public enum TurnDirection {
         LEFT,
         RIGHT,

src/main/java/frc/robot/Robot.java

@@ -71,7 +71,7 @@ public void robotInit() {
         SmartDashboard.putNumber("PIDTARGET", 90);
 
         initializeSmartMotion(driveLeftParent, Constants.NORMAL_ROBOT_GAINS);
-        initializeSmartMotion(driveRightParent, Constants.NORMAL_ROBOT_GAINS);
+        initializeSmartMotion(driveRightParent, Constants.NORMAL_ROBOT_GAINS);\
     }
 
     /**

src/main/java/frc/robot/Vision/AprilTagHighlighter.java

@@ -90,11 +90,6 @@ public void doEveryTeleopFrame(XboxController controller) {
                 sequenceInitiated = false;
                 return;
             }
-            // System.out.println("A button pressed size " + robotVision.getConfidentAprilTags().size());
-            // if (robotVision.getConfidentAprilTags().size() < 1) {
-            //     return;
-            // }
-            // System.out.println("A button pressed");
             // AprilTagDetection targetTag = robotVision.getConfidentAprilTags().get(0);
             // int targetTagId = targetTag.getId();
             // Transform3d aprilEstimate = poseEstimations.get(targetTagId);

src/main/java/frc/robot/Vision/AutonRotateAction.java

@@ -55,7 +55,7 @@ public boolean executeAndIsDone() {
             System.out.println(
                 "THE ROTATION IS DONE BECAUSE " + rotation + " is less than " + Constants.ROTATION_ERROR_DEGREES
             );
-            return true;
+            return true;bounceTime = 0;
         }
         return false;
     }

src/main/java/frc/robot/motor/SparkMotorController.java

@@ -18,7 +18,7 @@ public class SparkMotorController implements MotorController {
 
     SparkMotorController(int canID) {
         controller = new CANSparkMax(canID, MotorType.kBrushless);
-        // encoder = controller.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 8192); // 4096 =
+        encoder = controller.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 8192); // 4096 =
         // number
         // of ticks
         // per