started getting alpha 2

.styleguide

@@ -1,4 +1,3 @@
-
 cppHeaderFileInclude {
    \.h$
    \.hpp$

gradlew.bat

@@ -1,93 +1,92 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
-@if "%DEBUG%"=="" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal    
-
-set DIRNAME=%~dp0
-if "%DIRNAME%"=="" set DIRNAME=.
-@rem This is normally unused
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if %ERRORLEVEL% equ 0 goto execute
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-
-:end
-@rem End local scope for the variables with windows NT shell
-if %ERRORLEVEL% equ 0 goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-set EXIT_CODE=%ERRORLEVEL%
-if %EXIT_CODE% equ 0 set EXIT_CODE=1
-if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
-exit /b %EXIT_CODE%
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

src/main/cpp/AlphaArm.cpp

@@ -0,0 +1,66 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "AlphaArm.h"
+
+AlphaArm::AlphaArm(AlphaArmConfig config) : _config(config) {}
+
+AlphaArmConfig AlphaArm::GetConfig() {
+  return _config;
+}
+
+void AlphaArm::OnUpdate(units::second_t dt) {
+  switch (_state) {
+    case AlphaArmState::kIdle:
+
+      // _config.alphaArmGearbox.motorController->SetVoltage(0_V);
+      // _config.wristGearbox.motorController->SetVoltage(0_V);
+      _setAlphaArmVoltage = 0_V;
+      _setWristVoltage = 0_V;
+
+      break;
+    case AlphaArmState::kRaw:
+      _setAlphaArmVoltage = _rawArmVoltage;
+      _setWristVoltage = _rawWristVoltage;
+      _config.alphaArmGearbox.motorController->SetVoltage(_rawArmVoltage);
+      _config.wristGearbox.motorController->SetVoltage(_rawWristVoltage);
+
+      break;
+    case AlphaArmState::kForwardWrist:
+      _config.wristGearbox.motorController->SetVoltage(3_V);
+      _setWristVoltage = 3_V;
+
+    case AlphaArmState::kReverseWrist:
+      _config.wristGearbox.motorController->SetVoltage(-3_V);
+      _setWristVoltage = -3_V;
+    default:
+      std::cout << "oops, wrong state" << std::endl;
+      break;
+  }
+  // transmission translate
+  // _config.armGearBox.motorController->SetVoltage(setAlphaArmVoltage);
+  // _config.alphaArmGearbox.motorController->SetVoltage(setAlphaArmVoltage);
+  // _config.wristGearbox.motorController->SetVoltage(setWristVoltage);
+  _config.alphaArmGearbox.motorController->SetVoltage(_setAlphaArmVoltage);
+  _config.wristGearbox.motorController->SetVoltage(_setWristVoltage);
+
+  // _config.wristGearbox.motorController->SetVoltage(_setVoltage);
+}
+
+void AlphaArm::SetState(AlphaArmState state) {
+  _state = state;
+}
+
+// void AlphaArm::SetRaw(units::volt_t voltage){
+//     _rawArmVoltage = voltage;
+//     _rawWristVoltage = voltage;
+// }
+
+void AlphaArm::SetArmRaw(units::volt_t voltage) {
+  _rawArmVoltage = voltage;
+}
+
+void AlphaArm::setWristRaw(units::volt_t voltage) {
+  _rawWristVoltage = voltage;
+}

src/main/cpp/AlphaArmBehaviour.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "AlphaArmBehaviour.h"
+
+#include <frc/XboxController.h>
+
+AlphaArmManualControl::AlphaArmManualControl(AlphaArm* alphaArm, frc::XboxController* codriver)
+    : _alphaArm(alphaArm), _codriver(codriver) {
+  Controls(alphaArm);
+}
+
+void AlphaArmManualControl::OnTick(units::second_t dt) {
+  if (_codriver->GetXButtonPressed()) {
+    if (_rawControl == true) {
+      _rawControl = false;
+    } else {
+      _rawControl = true;
+    }
+  }
+
+  if (_rawControl) {
+    _alphaArm->SetState(AlphaArmState::kRaw);
+    _alphaArm->SetArmRaw(_codriver->GetRightY() * 6_V);
+    _alphaArm->setWristRaw(_codriver->GetLeftY() * -6_V);
+  } else {
+    if (_codriver->GetRightBumperPressed()) {
+      _alphaArm->SetState(AlphaArmState::kForwardWrist);
+    }
+    if (_codriver->GetLeftBumperPressed()) {
+      _alphaArm->SetState(AlphaArmState::kReverseWrist);
+    }
+  }
+}