Fix formatting, add javadocs and comments

build.gradle

@@ -10,7 +10,7 @@ java {
     targetCompatibility = JavaVersion.VERSION_17
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "bhs.devilbotz.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

src/main/java/bhs/devilbotz/BuildConstants.java

@@ -0,0 +1,19 @@
+package bhs.devilbotz;
+
+/**
+ * Automatically generated file containing build version information.
+ */
+public final class BuildConstants {
+ public static final String MAVEN_GROUP = "";
+ public static final String MAVEN_NAME = "Crescendo2024";
+ public static final String VERSION = "unspecified";
+ public static final int GIT_REVISION = 6;
+ public static final String GIT_SHA = "6953095ae13c329bcab835ed51bd92802e10b482";
+ public static final String GIT_DATE = "2024-01-10 22:36:31 EST";
+ public static final String GIT_BRANCH = "main";
+ public static final String BUILD_DATE = "2024-01-12 14:32:22 EST";
+ public static final long BUILD_UNIX_TIME = 1705087942925L;
+ public static final int DIRTY = 1;
+
+ private BuildConstants(){}
+}

src/main/java/frc/robot/Main.java → src/main/java/bhs/devilbotz/Main.java

@@ -2,14 +2,18 @@
 // 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;
+package bhs.devilbotz;
 
 import edu.wpi.first.wpilibj.RobotBase;
 
+/**
+ * Main initialization function. Do not perform any initialization here.
+ */
 public final class Main {
-  private Main() {}
+    private Main() {
+    }
 
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
 }

src/main/java/bhs/devilbotz/Robot.java

@@ -0,0 +1,187 @@
+// 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 bhs.devilbotz;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+/**
+ * The main robot class, which is responsible for handling initialization of the robot in different
+ * modes.
+ *
+ * <p>AdvantageKit is initialized in {@link #robotInit()}.
+ *
+ * @see LoggedRobot
+ * @see Logger
+ */
+public class Robot extends LoggedRobot {
+    private Command autonomousCommand;
+
+    private RobotContainer robotContainer;
+
+    /**
+     * This function is run when the robot is first started up and should be used for any
+     * initialization code.
+     *
+     * <p>Note that this will be called before the AdvantageKit logging system is initialized.
+     */
+    @Override
+    public void robotInit() {
+        // START: Setup AdvantageKit
+
+        // Record build metadata generated by Gversion
+        Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+        Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+        Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+        Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+        Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+        switch (BuildConstants.DIRTY) {
+            case 0 -> Logger.recordMetadata("GitDirty", "All changes committed");
+            case 1 -> Logger.recordMetadata("GitDirty", "Uncommitted changes");
+            default -> Logger.recordMetadata("GitDirty", "Unknown");
+        }
+
+        // Set up data receivers & replay source
+
+        // We will add support for replay mode later
+    /*if (Constants.AdvantageKit.REPLAY_MODE) {
+      // Running in replay mode
+      setUseTiming(false); // Run as fast as possible
+      String logPath =
+          LogFileUtil
+              .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+      Logger.addDataReceiver(
+          new WPILOGWriter(
+              LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+    } else {*/
+        if (isReal()) {
+            // Running on real robot
+            Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick
+            Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        } else {
+            // Running in simulation
+            Logger.addDataReceiver(new WPILOGWriter("")); // Log to a file in the current directory
+            Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        }
+        // }
+
+        // Start logging! No more data receivers, replay sources, or metadata values maybe added.
+        Logger.start();
+
+        // END: Setup AdvantageKit
+        robotContainer = new RobotContainer();
+    }
+
+    /**
+     * This function is called every robot packet, no matter the mode. Use this for items like
+     * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+     */
+    @Override
+    public void robotPeriodic() {
+        CommandScheduler.getInstance().run();
+    }
+
+    /**
+     * This function is called once each time the robot enters Disabled mode.
+     */
+    @Override
+    public void disabledInit() {
+    }
+
+    /**
+     * This function is called periodically when disabled.
+     */
+    @Override
+    public void disabledPeriodic() {
+    }
+
+    /**
+     * This function is called once each time the robot enters any mode except Disabled after leaving
+     * Disabled mode.
+     */
+    @Override
+    public void disabledExit() {
+    }
+
+
+    /**
+     * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+     */
+    @Override
+    public void autonomousInit() {
+        autonomousCommand = robotContainer.getAutonomousCommand();
+
+        if (autonomousCommand != null) {
+            autonomousCommand.schedule();
+        }
+    }
+
+    /**
+     * This function is called periodically during autonomous.
+     */
+    @Override
+    public void autonomousPeriodic() {
+    }
+
+    /**
+     * This function is called once each time the robot exists Autonomous
+     */
+    @Override
+    public void autonomousExit() {
+    }
+
+    /**
+     * This function is called once each time the robot enters Teleop mode.
+     */
+    @Override
+    public void teleopInit() {
+        if (autonomousCommand != null) {
+            autonomousCommand.cancel();
+        }
+    }
+
+    /**
+     * This function is called periodically during operator control.
+     */
+    @Override
+    public void teleopPeriodic() {
+    }
+
+    /**
+     * This function is called once each time the robot enters any mode except Disabled after leaving
+     * Teleop mode.
+     */
+    @Override
+    public void teleopExit() {
+    }
+
+    /**
+     * This function is called once each time the robot enters Test mode.
+     */
+    @Override
+    public void testInit() {
+        CommandScheduler.getInstance().cancelAll();
+    }
+
+    /**
+     * This function is called periodically during test mode.
+     */
+    @Override
+    public void testPeriodic() {
+    }
+
+    /**
+     * This function is called once each time the robot enters any mode except Disabled after leaving
+     * Test mode.
+     */
+    @Override
+    public void testExit() {
+    }
+}

src/main/java/bhs/devilbotz/RobotContainer.java

@@ -0,0 +1,45 @@
+// 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 bhs.devilbotz;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * subsystems, commands, and button mappings) should be declared here.
+ *
+ * @see Robot
+ * @see Command
+ */
+public class RobotContainer {
+    /**
+     * The container for the robot. Contains subsystems, OI devices, and commands.
+     */
+    public RobotContainer() {
+        configureBindings();
+    }
+
+    /**
+     * Use this method to define your button->command mappings. Buttons can be created by instantiating
+     * a {@link edu.wpi.first.wpilibj.GenericHID GenericHID} or one of its subclasses ({@link
+     * edu.wpi.first.wpilibj.Joystick Joystick} or {@link edu.wpi.first.wpilibj.XboxController
+     * XboxController}), and then passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton
+     * JoystickButton}.
+     */
+    private void configureBindings() {
+    }
+
+    /**
+     * Use this to pass the autonomous command to the main {@link Robot} class.
+     *
+     * @return the command to run in autonomous
+     */
+    public Command getAutonomousCommand() {
+        return Commands.print("No autonomous command configured");
+    }
+}