Merge pull request #3 from Team6083/develop

Fix for STSP event

build.gradle

@@ -10,9 +10,11 @@ plugins {
     id 'eclipse'
     id 'idea'
     id "jaci.openrio.gradle.GradleRIO" version "2018.03.06"
-    id 'maven-publish'
 }
 
+apply plugin: 'maven-publish'
+apply plugin: 'signing'
+
 dependencies {
     compile wpilib()
     api 'org.apache.commons:commons-math3:3.6.1'
@@ -38,15 +40,132 @@ jar {
     }
 }
 
-group = 'org.team6083'
+group = 'com.github.team6083'
 version = '0.1.0-alpha'
 
-task sourcesJar(type: Jar) {
-    classifier = 'sources'
+task sourceJar(type: Jar) {
+    classifier "sources"
     from sourceSets.main.allJava
 }
 
 task javadocJar(type: Jar) {
     classifier = 'javadoc'
     from javadoc.destinationDir
+}
+
+artifacts {
+    archives jar
+    archives sourceJar
+    archives javadocJar
+}
+
+signing{
+    sign configurations.archives
+}
+
+publishing {
+    publications {
+        mavenJava(MavenPublication) {
+            customizePom(pom)
+            groupId project.group
+            artifactId project.name
+            version project.version
+
+            from components.java
+
+            // create the sign pom artifact
+            pom.withXml {
+                def pomFile = file("${project.buildDir}/generated-pom.xml")
+                writeTo(pomFile)
+                def pomAscFile = signing.sign(pomFile).signatureFiles[0]
+                artifact(pomAscFile) {
+                    classifier = null
+                    extension = 'pom.asc'
+                }
+            }
+
+            artifact(sourceJar) {
+                classifier = 'sources'
+            }
+            artifact(javadocJar) {
+                classifier = 'javadoc'
+            }
+
+            // create the signed artifacts
+            project.tasks.signArchives.signatureFiles.each {
+                artifact(it) {
+                    def matcher = it.file =~ /-(sources|javadoc)\.jar\.asc$/
+                    if (matcher.find()) {
+                        classifier = matcher.group(1)
+                    } else {
+                        classifier = null
+                    }
+                    extension = 'jar.asc'
+                }
+            }
+        }
+    }
+    repositories {
+        maven {
+            url ""
+            credentials {
+                username sonatypeUsername
+                password sonatypePassword
+            }
+        }
+    }
+}
+
+def customizePom(pom) {
+    pom.withXml {
+        def root = asNode()
+
+        // eliminate test-scoped dependencies (no need in maven central POMs)
+        root.dependencies.removeAll { dep ->
+            dep.scope == "test"
+        }
+
+        // add all items necessary for maven central publication
+        root.children().last() + {
+            resolveStrategy = Closure.DELEGATE_FIRST
+
+            description 'A custom lib for Overlooking robots'
+            name 'OverRobotLib'
+            url 'https://github.com/Team6083/OverRobotLib'
+
+            organization {
+                name 'com.github.team6083'
+                url 'https://github.com/Team6083'
+            }
+
+            issueManagement {
+                system 'GitHub'
+                url 'https://github.com/Team6083/OverRobotLib/issues'
+            }
+
+            scm {
+                url 'git@github.com:Team6083/OverRobotLib.git'
+                connection 'scm:git:git@github.com:Team6083/OverRobotLib.git'
+                developerConnection 'scm:git:git@github.com:Team6083/OverRobotLib.git'
+            }
+
+            developers {
+                developer {
+                    name 'KennHuang'
+                }
+            }
+        }
+    }
+}
+
+model {
+    tasks.generatePomFileForMavenJavaPublication {
+        destination = file("$buildDir/generated-pom.xml")
+    }
+    tasks.publishMavenJavaPublicationToMavenLocal {
+        dependsOn project.tasks.signArchives
+    }
+    tasks.publishMavenJavaPublicationToMavenRepository {
+        dependsOn project.tasks.signArchives
+    }
 }

src/main/java/org/team6083/RobotPower.java

@@ -5,13 +5,14 @@
 
 public class RobotPower {
     private static PowerDistributionPanel pdp;
-    private static final int PDP_CANID = 1;
+    private static int PDP_CANID = 1;
     private static boolean inited = false;
 
     private int devicePort;
 
-    public static void init() {
+    public static void init(int pdp_CANId) {
         if(!inited) {
+            PDP_CANID = pdp_CANId;
             pdp = new PowerDistributionPanel(PDP_CANID);
         }
     }
@@ -32,4 +33,8 @@ public static double getTotalCurrent() {
         return pdp.getTotalCurrent();
     }
 
+    public static double getRobotVoltage() {
+        return pdp.getVoltage();
+    }
+
 }

src/main/java/org/team6083/auto/GyroWalker.java

@@ -25,8 +25,8 @@ public GyroWalker(Gyro gyro) {
         rightPower = 0;
         targetAngle = 0;
 
-        kP = 0.01;
-        kI = 0.000001;
+        kP = 0.005;
+        kI = 10E-6;
 
         maxPower = 0.7;
         maxEdit = 0.5;

src/main/java/org/team6083/util/DashBoard.java

@@ -68,6 +68,18 @@ public void putError() {
         SmartDashboard.putNumber(partName + "/status", 2);
     }
 
+    public void putLeftDis(double leftDis) {
+        SmartDashboard.putNumber("Left Dis", leftDis);
+    }
+
+    public void putRightDis(double rightDis) {
+        SmartDashboard.putNumber("Right Dis", rightDis);
+    }
+
+    public static void putGyroAngle(double angle) {
+        SmartDashboard.putNumber("Gyro/angle", angle);
+    }
+
     private static void dashboardLoop() {
         DriverStation ds = DriverStation.getInstance();