Cleanup Code

.github/workflows/ci.yml

@@ -0,0 +1,47 @@
+name: CI
+
+on:
+  # Update on pushes to main
+  push:
+    branches: [ "main" ]
+
+  pull_request:
+
+  # Allow running workflow manually
+  workflow_dispatch:
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Setup JDK 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+          cache: 'gradle'
+
+      - name: Lint project
+        run: |
+          chmod +x ./gradlew
+          ./gradlew lintKotlin
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Setup JDK 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+          cache: 'gradle'
+
+      - name: Build project
+        run: |
+          chmod +x ./gradlew
+          ./gradlew build

.github/workflows/docs.yml

@@ -30,10 +30,10 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
-      - name: Setup JDK 11
-        uses: actions/setup-java@v3
+      - name: Setup JDK 17
+        uses: actions/setup-java@v4
         with:
-          java-version: 11
+          java-version: 17
           distribution: 'temurin'
           cache: 'gradle'
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/API.kt

@@ -23,7 +23,7 @@ abstract class API {
     @Deprecated(
         message = "Accessing the hardwareMap indirectly is not supported.",
         replaceWith = ReplaceWith("this.opMode.hardwareMap"),
-        level = DeprecationLevel.WARNING,
+        level = DeprecationLevel.ERROR,
     )
     protected val hardwareMap: HardwareMap
         get() = this.opMode.hardwareMap

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt

@@ -7,15 +7,19 @@ import org.firstinspires.ftc.teamcode.utils.opModeSleep
 /**
  * An API for controlling the Box on the robot.
  */
+@Deprecated(
+    message = "The Box hardware component has been removed.",
+    level = DeprecationLevel.WARNING,
+)
 object Box : API() {
     private lateinit var box: Servo
     private lateinit var grip: Servo
 
     override fun init(opMode: OpMode) {
         super.init(opMode)
 
-        this.box = this.hardwareMap.get(Servo::class.java, "box")
-        this.grip = this.hardwareMap.get(Servo::class.java, "grip")
+        this.box = this.opMode.hardwareMap.get(Servo::class.java, "box")
+        this.grip = this.opMode.hardwareMap.get(Servo::class.java, "grip")
 
         // Close grip at the beginning.
         this.gripOut()

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/DemoQuadWheels.kt

@@ -33,10 +33,10 @@ object DemoQuadWheels : API() {
         // You must call super.init(opMode), or the API will not initialize correctly.
         super.init(opMode)
 
-        this.fl = this.hardwareMap.get(DcMotor::class.java, "fl")
-        this.fr = this.hardwareMap.get(DcMotor::class.java, "fr")
-        this.bl = this.hardwareMap.get(DcMotor::class.java, "bl")
-        this.br = this.hardwareMap.get(DcMotor::class.java, "br")
+        this.fl = this.opMode.hardwareMap.get(DcMotor::class.java, "fl")
+        this.fr = this.opMode.hardwareMap.get(DcMotor::class.java, "fr")
+        this.bl = this.opMode.hardwareMap.get(DcMotor::class.java, "bl")
+        this.br = this.opMode.hardwareMap.get(DcMotor::class.java, "br")
     }
 
     // A public function that sets the power of all four wheels.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/TriWheels.kt

@@ -26,9 +26,9 @@ object TriWheels : API() {
     override fun init(opMode: OpMode) {
         super.init(opMode)
 
-        this.red = hardwareMap.get(DcMotor::class.java, "redWheel")
-        this.green = hardwareMap.get(DcMotor::class.java, "greenWheel")
-        this.blue = hardwareMap.get(DcMotor::class.java, "blueWheel")
+        this.red = this.opMode.hardwareMap.get(DcMotor::class.java, "redWheel")
+        this.green = this.opMode.hardwareMap.get(DcMotor::class.java, "greenWheel")
+        this.blue = this.opMode.hardwareMap.get(DcMotor::class.java, "blueWheel")
 
         this.stopAndResetMotors()
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt

@@ -3,7 +3,6 @@ package org.firstinspires.ftc.teamcode.opmode.autonomous
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
-import org.firstinspires.ftc.teamcode.api.Box
 import org.firstinspires.ftc.teamcode.api.Telemetry
 import org.firstinspires.ftc.teamcode.api.TriWheels
 import org.firstinspires.ftc.teamcode.api.linear.Encoders
@@ -30,84 +29,16 @@ abstract class AutoMain : LinearOpMode() {
         Telemetry.init(this)
         TriWheels.init(this)
         Encoders.init(this)
-        Box.init(this)
-
-        // Vision APIs
-        // AprilVision.init(this)
-        // Vision.init(this, AprilVision)
-
-        // AprilMovement.init(this)
-
-        // Modify camera exposure for april tags
-        // This may interfere with other vision processes like Tensorflow
-        // Vision.optimizeForAprilTags()
-
-        // Stream camera to FTC Dashboard
-        // val camera = getVisionPortalCamera(Vision.portal)!!
-        // FtcDashboard.getInstance().startCameraStream(camera, 0.0)
 
         Telemetry.sayInitialized()
 
         waitForStart()
 
-        /*
-        // TODO: Scan team game element
-        val teamElementPos = 2
-         */
+        Telemetry.sayStarted()
 
         sleep(RobotConfig.AutoMain.WAIT_TIME)
 
-        telemetry.log().add("No team game element scanned, defaulting to 2!")
-        telemetry.update()
-
-        when (config.startPos) {
-            StartPos.BackStage -> {
-                Encoders.driveTo(forward, startingOffset)
-                Encoders.spinTo(pickTeam(90.0, -90.0))
-                Encoders.driveTo(forward, tiles(1))
-                Encoders.spinTo(pickTeam(-90.0, 90.0))
-                Encoders.driveTo(forward, tiles(1))
-                Encoders.spinTo(pickTeam(90.0, -90.0))
-                Encoders.driveTo(forward, tiles(2))
-            }
-
-            StartPos.FrontStage -> {
-                // Drive forward two tiles
-                Encoders.driveTo(forward, tiles(2) + startingOffset)
-
-                // Spin to face backdrop
-                Encoders.spinTo(pickTeam(90.0, -90.0))
-
-                Encoders.driveTo(forward, tiles(1))
-            }
-        }
-
-        /*
-
-        // Deposit pixel using april tag
-        // Red: 1, 2, 3. Blue: 4, 5, 6
-        AprilMovement.driveTo(teamElementPos + pickTeam(0, 3))
-
-        // TODO: Deposit pixel
-
-        // Back up to view all april tags
-        Encoders.driveTo(forward, tiles(-1))
-
-        // Center 1 tile away from middle april tag
-        when (config.team) {
-            Team.Red -> AprilMovement.driveTo(5, tiles(1))
-            Team.Blue -> AprilMovement.driveTo(2, tiles(1))
-        }
-
-         */
-
-        // Navigate to parking spot
-        Encoders.spinTo(pickParkPos(-90.0, 90.0))
-        Encoders.driveTo(forward, tiles(1))
-        Encoders.spinTo(pickParkPos(90.0, -90.0))
-
-        // Park in spot
-        Encoders.driveTo(forward, tiles(1))
+        // TODO: Rest of the autonomous.
     }
 
     /** Converts an amount of tiles to inches. */

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/DemoAutonomous.kt

@@ -3,9 +3,9 @@ package org.firstinspires.ftc.teamcode.opmode.autonomous
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
+import com.qualcomm.robotcore.util.ElapsedTime
 import org.firstinspires.ftc.teamcode.api.DemoQuadWheels
 import org.firstinspires.ftc.teamcode.api.Telemetry
-import org.firstinspires.ftc.teamcode.components.linear.DemoSpinLinear
 
 @Autonomous(name = "Demo Autonomous")
 @Disabled
@@ -26,7 +26,14 @@ class DemoAutonomous : LinearOpMode() {
         // Log that we are started
         Telemetry.sayStarted()
 
-        // Linear components are run in order
-        DemoSpinLinear.run(this)
+        val runtime = ElapsedTime()
+
+        while (runtime.seconds() < 2.0) {
+            // Drive at 50% speed, slowing down the closer we get to 2 seconds.
+            DemoQuadWheels.drive(0.5 * (2.0 - runtime.seconds()))
+        }
+
+        // Stop the robot.
+        DemoQuadWheels.drive(0.0)
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/JankAuto.kt

@@ -1,3 +1,5 @@
+@file:Suppress("DEPRECATION")
+
 package org.firstinspires.ftc.teamcode.opmode.autonomous
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/DemoTeleOp.kt

@@ -7,7 +7,6 @@ import org.firstinspires.ftc.teamcode.api.DemoQuadWheels
 import org.firstinspires.ftc.teamcode.api.Telemetry
 import org.firstinspires.ftc.teamcode.api.vision.AprilVision
 import org.firstinspires.ftc.teamcode.api.vision.Vision
-import org.firstinspires.ftc.teamcode.components.DemoForward
 
 @TeleOp(name = "Demo TeleOp")
 @Disabled
@@ -32,8 +31,17 @@ class DemoTeleOp : OpMode() {
 
     // Run repeatedly while the robot is running.
     override fun loop() {
-        // Runs the component.
-        DemoForward.loop(this)
+        val x = this.gamepad1.left_stick_x.toDouble()
+        val y = this.gamepad1.left_stick_y.toDouble()
+        val rotation = this.gamepad1.right_stick_x.toDouble()
+
+        // Strafe + rotate robot using left and right joysticks.
+        DemoQuadWheels.drive(
+            x - y + rotation,
+            -x - y - rotation,
+            -x - y + rotation,
+            x - y - rotation,
+        )
 
         // Log that we are running
         Telemetry.sayRunning()

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt

@@ -1,3 +1,5 @@
+@file:Suppress("DEPRECATION")
+
 package org.firstinspires.ftc.teamcode.opmode.teleop
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode

build.gradle

@@ -6,15 +6,15 @@
 
 buildscript {
     ext {
-        kotlin_version = '1.9.0'
+        kotlin_version = '1.9.22'
     }
     repositories {
         mavenCentral()
         google()
     }
     dependencies {
         // Note for FTC Teams: Do not modify this yourself.
-        classpath 'com.android.tools.build:gradle:7.4.2'
+        classpath 'com.android.tools.build:gradle:8.2.1'
         classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
     }
 }

gradle.properties

@@ -8,3 +8,9 @@ android.enableJetifier=true
 org.gradle.jvmargs=-Xmx1024M
 # Force Kotlin official code style
 kotlin.code.style=official
+# Disable auto-downloading of Java toolchains
+org.gradle.java.installations.auto-download=false
+# Gradle 8.0 config
+android.defaults.buildfeatures.buildconfig=true
+android.nonTransitiveRClass=false
+android.nonFinalResIds=false

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 #Thu Dec 14 13:01:55 EST 2023
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.6.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists