Merge branch 'main' into 121-enable-linter-to-be-run-manually

src/main/java/frc/robot/RobotContainer.java

@@ -32,6 +32,7 @@
 import frc.robot.command.Shoot;
 import frc.robot.command.tests.DrivetrainSystemTest;
 import frc.robot.command.tests.TurnSystemTest;
+import frc.robot.command.tests.testCommands.TurnTest;
 import frc.robot.command.ChasePieces;
 import frc.robot.command.Climb;
 import frc.robot.command.ManualClimb;
@@ -170,12 +171,6 @@ protected void configureFaultMonitors() {
 	@Override
 	protected void configureSystemTests() {
 		SystemTest.registerTest("Drive Test", new DrivetrainSystemTest(drivetrain, brake, DrivetrainConstants.SYS_TEST_SPEED_DRIVE));
-
-		SystemTest.registerTest("Azimuth Test", new SequentialCommandGroup(
-			new TimedCommand(new TurnSystemTest(drivetrain, () -> DrivetrainConstants.SYS_TEST_SPEED_TURN), 1),
-			new WaitCommand(0.5),
-			new TimedCommand(new TurnSystemTest(drivetrain, () -> -DrivetrainConstants.SYS_TEST_SPEED_TURN), 1),
-			drivetrain.applyRequest(() -> brake)
-		));
+		SystemTest.registerTest("Azimuth Test", new TurnSystemTest(drivetrain, brake, DrivetrainConstants.SYS_TEST_SPEED_TURN));
 	}
 }

src/main/java/frc/robot/command/tests/DrivetrainSystemTest.java

@@ -6,26 +6,30 @@
 
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.command.tests.testCommands.DriveTest;
 import frc.robot.subsystems.Swerve;
 import frc.thunder.command.TimedCommand;
+import frc.thunder.testing.SystemTestCommandGroup;
 
-public class DrivetrainSystemTest extends SequentialCommandGroup {
-
+public class DrivetrainSystemTest extends SystemTestCommandGroup {
+  
   public DrivetrainSystemTest(Swerve drivetrain, SwerveRequest brake, double speed) {
-    addCommands(
-      new WaitCommand(0.5),
-      new TimedCommand(new DriveTest(drivetrain, () -> speed, () -> 0d), 1), // Forward
-      new WaitCommand(1),
-      new TimedCommand(new DriveTest(drivetrain, () -> -speed, () -> 0d), 1), // Backward
-      new WaitCommand(1),
-      new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> speed), 1), // Left
-      new WaitCommand(1),
-      new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> -speed), 1), // Right
-      new WaitCommand(0.5),
-      drivetrain.applyRequest(() -> brake) // Brake
+    super(
+      new SequentialCommandGroup(
+        new WaitCommand(0.5),
+        new TimedCommand(new DriveTest(drivetrain, () -> speed, () -> 0d), 1), // Forward
+        new WaitCommand(1),
+        new TimedCommand(new DriveTest(drivetrain, () -> -speed, () -> 0d), 1), // Backward
+        new WaitCommand(1),
+        new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> speed), 1), // Left
+        new WaitCommand(1),
+        new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> -speed), 1), // Right
+        new WaitCommand(0.5),
+        drivetrain.applyRequest(() -> brake) // Brake
+      )
     );
   }
+
 }

src/main/java/frc/robot/command/tests/TurnSystemTest.java

@@ -4,45 +4,28 @@
 
 package frc.robot.command.tests;
 
-import java.util.function.DoubleSupplier;
-
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.command.tests.testCommands.TurnTest;
 import frc.robot.subsystems.Swerve;
-
-public class TurnSystemTest extends Command {
-
-  private Swerve drivetrain;
-  private DoubleSupplier speed;
-
-  /**
-   * System test for testing azimuth motors
-   * @param drivetrain swerve subsystem
-   * @param speed rotational rate
-   */
-  public TurnSystemTest(Swerve drivetrain, DoubleSupplier speed) {
-    this.drivetrain = drivetrain;
-    this.speed = speed;
-
-    addRequirements(drivetrain);
-  }
-
-  @Override
-  public void initialize() {}
-
-  @Override
-  public void execute() {
-    drivetrain.setControl(new SwerveRequest.RobotCentric().withVelocityX(0).withVelocityY(0).withRotationalRate(speed.getAsDouble()));
+import frc.thunder.command.TimedCommand;
+import frc.thunder.testing.SystemTestCommandGroup;
+
+public class TurnSystemTest extends SystemTestCommandGroup {
+
+  public TurnSystemTest(Swerve drivetrain, SwerveRequest brake, double speed) {
+    super(
+      new SequentialCommandGroup(
+        new WaitCommand(0.5),
+        new TimedCommand(new TurnTest(drivetrain, () -> speed), 1),
+        new WaitCommand(1),
+        new TimedCommand(new TurnTest(drivetrain, () -> -speed), 1),
+        new WaitCommand(0.5),
+        drivetrain.applyRequest(() -> brake)
+      )
+    );
   }
 
-  @Override
-  public void end(boolean interrupted) {
-    drivetrain.setControl(new SwerveRequest.RobotCentric().withVelocityX(0).withVelocityY(0).withRotationalRate(0));
-  }
-
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
 }

src/main/java/frc/robot/command/tests/DriveTest.java → src/main/java/frc/robot/command/tests/testCommands/DriveTest.java

@@ -2,7 +2,7 @@
 // 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 frc.robot.command.tests;
+package frc.robot.command.tests.testCommands;
 
 import java.util.function.DoubleSupplier;
 
@@ -18,7 +18,7 @@ public class DriveTest extends Command {
   private DoubleSupplier speedY;
 
   /**
-   * Creates a new drive test
+   * System test command for testing drive motors
    * @param drivetrain swerve subsystem
    * @param speedX X velocity
    * @param speedY Y velocity

src/main/java/frc/robot/command/tests/testCommands/TurnTest.java

@@ -0,0 +1,48 @@
+// 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 frc.robot.command.tests.testCommands;
+
+import java.util.function.DoubleSupplier;
+
+import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Swerve;
+
+public class TurnTest extends Command {
+
+  private Swerve drivetrain;
+  private DoubleSupplier speed;
+
+  /**
+   * System test command for testing azimuth motors
+   * @param drivetrain swerve subsystem
+   * @param speed rotational rate
+   */
+  public TurnTest(Swerve drivetrain, DoubleSupplier speed) {
+    this.drivetrain = drivetrain;
+    this.speed = speed;
+
+    addRequirements(drivetrain);
+  }
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    drivetrain.setControl(new SwerveRequest.RobotCentric().withVelocityX(0).withVelocityY(0).withRotationalRate(speed.getAsDouble()));
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(new SwerveRequest.RobotCentric().withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+  }
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.1.5",
+    "version": "2024.1.6",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.1.5"
+            "version": "2024.1.6"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.1.5",
+            "version": "2024.1.6",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,