Merge branch 'main' of https://github.com/team581/2024-offseason-bot

Author: Owen756

.github/workflows/ci.yml

@@ -18,7 +18,7 @@ jobs:
           java-version: 17
           cache: "gradle"
       - name: Validate Gradle wrapper
-        uses: gradle/actions/wrapper-validation@v3
+        uses: gradle/actions/wrapper-validation@v4
       - name: Assemble project
         run: ./gradlew assemble
   style:
@@ -36,7 +36,7 @@ jobs:
           java-version: 17
           cache: "gradle"
       - name: Validate Gradle wrapper
-        uses: gradle/actions/wrapper-validation@v3
+        uses: gradle/actions/wrapper-validation@v4
       - name: Check formatting
         run: ./gradlew spotlessCheck
   style-python:

build.gradle

@@ -69,7 +69,7 @@ dependencies {
 	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
 	simulationRelease wpi.sim.enableRelease()
 
-	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.3'
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.11.0'
 	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
@@ -131,6 +131,7 @@ spotless {
 		googleJavaFormat()
 		trimTrailingWhitespace()
 		endWithNewline()
+		licenseHeader ''
 
 		targetExclude('src/main/java/frc/robot/generated/BuildConstants.java')
 	}

gradle/wrapper/gradle-wrapper.jar

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.9-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradle/wrapper/gradle-wrapper.properties

@@ -1,25 +1,29 @@
-// 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.util.state_machines;
 
 import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.util.scheduling.LifecycleSubsystem;
+import frc.robot.util.scheduling.LifecycleSubsystemManager;
 import frc.robot.util.scheduling.SubsystemPriority;
 import java.util.Set;
 
 /** A state machine backed by {@link LifecycleSubsystem}. */
 public abstract class StateMachine<S extends Enum<S>> extends LifecycleSubsystem {
   private S state;
 
+  /**
+   * Creates a new state machine.
+   *
+   * @param priority The subsystem priority of this subsystem in {@link LifecycleSubsystemManager}.
+   * @param initialState The initial/default state of the state machine.
+   */
   protected StateMachine(SubsystemPriority priority, S initialState) {
     super(priority);
     state = initialState;
   }
 
+  /** Processes collecting inputs, state transitions, and state actions. */
   @Override
   public void robotPeriodic() {
     DogLog.log(subsystemName + "/State", state);
@@ -37,11 +41,18 @@ public void robotPeriodic() {
     }
   }
 
+  /**
+   * Called each loop before processing transitions. Used for retrieving sensor values, etc.
+   *
+   * <p>Default behavior is to do nothing.
+   */
   protected void collectInputs() {}
 
   /**
    * Process transitions from one state to another.
    *
+   * <p>Default behavior is to stay in the current state indefinitely.
+   *
    * @param currentState The current state.
    * @return The new state after processing transitions.
    */
@@ -56,7 +67,11 @@ protected S getNextState(S currentState) {
    */
   protected void afterTransition(S newState) {}
 
-  /** Used to change to a new state when a request is made. */
+  /**
+   * Used to change to a new state when a request is made.
+   *
+   * @param requestedState The new state to transition to.
+   */
   protected void setStateFromRequest(S requestedState) {
     this.state = requestedState;
   }

src/main/java/frc/robot/util/state_machines/StateMachine.java

@@ -1,7 +1,3 @@
-// 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.vision;
 
 import com.fasterxml.jackson.annotation.JsonFormat;

src/main/java/frc/robot/vision/LimelightHelpers.java

@@ -1,7 +1,3 @@
-// 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.vision;
 
 import edu.wpi.first.math.geometry.Pose2d;

src/main/java/frc/robot/vision/VisionInterpolationData.java

@@ -1,7 +1,3 @@
-// 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.vision;
 
 import edu.wpi.first.math.geometry.Pose2d;

src/main/java/frc/robot/vision/VisionResult.java

@@ -1,7 +1,3 @@
-// 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.vision;
 
 import edu.wpi.first.math.geometry.Pose2d;