Create Autonomous by NotMePipe · Pull Request #22 · RAR1741/RA22_RobotCode

NotMePipe · 2022-02-22T00:18:52Z

No description provided.

I don't actually really know what the actual specs of the shooter are. This was mostly made as a tutorial to git for the rest of the SPEC team.

…nto shooter

codecov · 2022-02-22T00:22:36Z

Codecov Report

Merging #22 (94bf62c) into master (3e929cc) will decrease coverage by 2.32%.
The diff coverage is 0.00%.

@@             Coverage Diff             @@
##             master     #22      +/-   ##
===========================================
- Coverage      9.74%   7.42%   -2.33%     
  Complexity       17      17              
===========================================
  Files            18      22       +4     
  Lines           677     889     +212     
  Branches         44      80      +36     
===========================================
  Hits             66      66              
- Misses          611     823     +212

Impacted Files	Coverage Δ
src/main/java/frc/robot/Autonomous.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/DriveModule.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Drivetrain.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/JsonAutonomous.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Manipulation.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Robot.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Shooter.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/logging/LoggableGyro.java	`0.00% <ø> (ø)`

qlty-cloud-legacy · 2022-03-15T00:42:38Z

+            }
+        } else if(u.equals(AutoInstruction.Unit.CURRENT)) {
+            //amount: motor current to stop at
+            if(driveCurrent(ai.args.get(0), ai.args.get(0), ai.amount)) {


Merge this if statement with the enclosing one.

qlty-cloud-legacy · 2022-03-15T00:42:38Z

+     * Creates a JsonAutonomous from the specified file
+     * @param file The location of the file to parse
+    */
+    public JsonAutonomous(String file, LoggableGyro gyro, Drivetrain drive, Shooter shooter, Manipulation manipulation) {


Line is longer than 100 characters (found 121).

qlty-cloud-legacy · 2022-03-15T00:42:38Z

+        }
+    }
+
+    private void shoot(AutoInstruction ai) {


Method shoot has 30 lines of code (exceeds 25 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-15T00:42:38Z

+            }
+        } else if(u.equals(AutoInstruction.Unit.FEET) || u.equals(AutoInstruction.Unit.INCHES)) {
+            //amount: feet/inches to drive
+            if(driveDistance(ai.args.get(0), ai.args.get(0), (u.equals(AutoInstruction.Unit.INCHES) ? ai.amount * TICKS_PER_INCH : (ai.amount * TICKS_PER_INCH) * 12))) {


Line is longer than 100 characters (found 169).

qlty-cloud-legacy · 2022-03-15T00:42:39Z

    public void autonomousInit() {
+        gyro.reset();
+
+        auto = new JsonAutonomous("/home/lvuser/deploy/autos/auto-test.json", gyro, drive, shooter, manipulation);


Line is longer than 100 characters (found 114).

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+        if(drive.getAverageCurrent() < current) {
+            drive.drive(leftPower, rightPower, false);
+        } else {
+            //drive.drive(0, 0);


This block of commented-out lines of code should be removed.

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+    }
+
+    private void shoot(AutoInstruction ai) {
+        AutoInstruction.Unit u = ai.unit;


Remove this useless assignment to local variable "u".

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+    private void shoot(AutoInstruction ai) {
+        AutoInstruction.Unit u = ai.unit;
+        System.out.println(shooter.getSpeed());
+        //shooter.setPower(SHOOTER_SPEED);


This block of commented-out lines of code should be removed.

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+
+    private static final double TICKS_PER_ROTATION = 16750; //TODO: Update value for 2022 robot
+    private static final double TICKS_PER_INCH = TICKS_PER_ROTATION / (6 * Math.PI); //TODO: Update formula for 2022 robot
+    private static final double SHOOTER_SPEED = 1;


Remove this unused "SHOOTER_SPEED" private field.

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+    private Drivetrain drive;
+
+    private Shooter shooter;
+    private Manipulation manipulation;


Remove this unused "manipulation" private field.

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+        return false;
+    }
+
+    public boolean driveCurrent(double leftPower, double rightPower, double current) {


Similar blocks of code found in 2 locations. Consider refactoring.

qlty-cloud-legacy · 2022-03-18T01:03:53Z

+        return false;
+    }
+
+    private boolean driveTime(double leftPower, double rightPower, double time) {


Similar blocks of code found in 2 locations. Consider refactoring.

qlty-cloud-legacy · 2022-03-18T01:03:54Z

-    public void drive(double leftSpeed, double rightSpeed) { // Probably implement deadbands later
-        left.setSpeed(leftSpeed);
-        right.setSpeed(rightSpeed);
+    public void drive(double leftValue, double rightValue, boolean power) { // Probably implement deadbands later


Line is longer than 100 characters (found 113).

qlty-cloud-legacy · 2022-03-18T01:03:54Z

+
+public class Shooter implements Loggable {
+    TalonFX shooterMotor;
+    Shooter(int shooterID) {


'CTOR_DEF' should be separated from previous statement.

qlty-cloud-legacy · 2022-03-18T01:03:54Z

    public void autonomousInit() {
+        gyro.reset();
+
+        auto = new JsonAutonomous("/home/lvuser/deploy/autos/shooter-test.json", gyro, drive, shooter, manipulation);


Line is longer than 100 characters (found 117).

Co-authored-by: theblindbandet <me@thisismy.computer>

qlty-cloud-legacy · 2022-03-22T00:21:25Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Refactor this method to reduce its Cognitive Complexity from 23 to the 15 allowed.

qlty-cloud-legacy · 2022-03-22T00:21:25Z

+            }
+        } else if (u.equals(AutoInstruction.Unit.CURRENT)) {
+            // amount: motor current to stop at
+            if (driveCurrent(ai.args.get(0), ai.args.get(0), ai.amount)) {


Merge this if statement with the enclosing one.

qlty-cloud-legacy · 2022-03-22T00:21:25Z

+    private void shoot(AutoInstruction ai) {
+        AutoInstruction.Unit u = ai.unit;
+        System.out.println(shooter.getSpeed());
+        // shooter.setPower(SHOOTER_SPEED);


This block of commented-out lines of code should be removed.

qlty-cloud-legacy · 2022-03-22T00:21:25Z

+        if (drive.getAverageCurrent() < current) {
+            drive.drive(leftPower, rightPower, false);
+        } else {
+            // drive.drive(0, 0);


This block of commented-out lines of code should be removed.

qlty-cloud-legacy · 2022-03-22T00:21:26Z

+        System.out.println(shooter.getSpeed());
+        // shooter.setPower(SHOOTER_SPEED);
+        /*
+         * if(u == AutoInstruction.Unit.SPEED) { if(shooter.getSpeed() < SHOOTER_SPEED) {


This block of commented-out lines of code should be removed.

qlty-cloud-legacy · 2022-03-22T00:21:26Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Method parseFile has a Cognitive Complexity of 23 (exceeds 5 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-22T00:21:26Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Method parseFile has 29 lines of code (exceeds 25 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-22T00:21:26Z

+
+public class JsonAutonomous extends Autonomous implements Loggable {
+
+    private static final double TICKS_PER_ROTATION = 16750; // TODO: Update value for 2022 robot


qlty-cloud-legacy · 2022-03-22T00:21:26Z

+public class JsonAutonomous extends Autonomous implements Loggable {
+
+    private static final double TICKS_PER_ROTATION = 16750; // TODO: Update value for 2022 robot
+    private static final double TICKS_PER_INCH = TICKS_PER_ROTATION / (6 * Math.PI); // TODO: Update


Co-authored-by: NotMePipe <mepipeofficial@gmail.com> Co-authored-by: theblindbandet <me@thisismy.computer>

qlty-cloud-legacy · 2022-03-22T00:39:21Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Refactor this method to reduce its Cognitive Complexity from 26 to the 15 allowed.

qlty-cloud-legacy · 2022-03-22T00:39:21Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Method parseFile has 33 lines of code (exceeds 25 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-22T00:39:21Z

+        parseFile(file);
+    }
+
+    public void parseFile(String file) {


Method parseFile has a Cognitive Complexity of 26 (exceeds 5 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-22T00:59:53Z

+                    reset();
+                }
+            }
+        } else if (u == AutoInstruction.Unit.POWER) {


Similar blocks of code found in 2 locations. Consider refactoring.

qlty-cloud-legacy · 2022-03-22T00:59:53Z

+    private void shoot(AutoInstruction ai) {
+        AutoInstruction.Unit u = ai.unit;
+
+        if (u == AutoInstruction.Unit.SPEED) {


Similar blocks of code found in 2 locations. Consider refactoring.

As a plus, it also works in simulations now! Co-authored-by: theblindbandet <me@thisismy.computer>

qlty-cloud-legacy · 2022-03-23T23:22:14Z

@@ -0,0 +1,315 @@
+package frc.robot;


File JsonAutonomous.java has 255 lines of code (exceeds 250 allowed). Consider refactoring.

qlty-cloud-legacy · 2022-03-23T23:22:15Z

    public void autonomousInit() {
+        gyro.reset();
+
+        auto = new JsonAutonomous(JsonAutonomous.getAutoPath("shooter-test.json"), gyro, drive, shooter, manipulation);


Line is longer than 100 characters (found 119).

…to autonomous

…into autonomous

qlty-cloud-legacy · 2022-04-09T19:17:25Z

Code Climate has analyzed commit 94bf62c and detected 36 issues on this pull request.

Here's the issue category breakdown:

Category	Count
Complexity	11
Duplication	6
Clarity	2
Style	15
Bug Risk	2

Note: there are 3 critical issues.

The test coverage on the diff in this pull request is 0.0% (50% is the threshold).

This pull request will bring the total coverage in the repository to 7.4% (-2.2% change).

View more on Code Climate.

theblindbandet and others added 28 commits January 15, 2022 13:25

Add basic shooter class

065285c

I don't actually really know what the actual specs of the shooter are. This was mostly made as a tutorial to git for the rest of the SPEC team.

modified build

d4a02b5

updated settings

3143bae

Merge branch 'master' into shooter

1f98067

Add Manipulation.java

d6c08b4

Implement Manipulation

4163e72

Begin documenting Manipulation

d13ec9c

Document Manipulation methods

910d366

Remove Shoot method

8699047

Fix some errors in Robot.java

0d3f789

Fix initialization boolean from defaulting null

f9fce03

Fix potential intakeWheel bug

447dbcd

Remove redundant if statement in teleopPeriodic

3a6203e

Merge branch 'master' into shooter

f889ab7

Merge branch 'master' into manipulation

f70bebd

...

7b908b0

Merge branch 'shooter' of https://github.com/RAR1741/RA22_RobotCode i…

a5e30f5

…nto shooter

Merge branch 'master' into shooter

3e7f683

...

58c0640

Merge branch 'master' into shooter

0ead328

Merge branch 'master' into shooter

fb7984d

Merge branch 'master' into shooter

345f3dc

Merge branch 'master' into shooter

7642df2

Merge branch 'master' into shooter

42c25a7

change wpilib version

d6a928b

Merge branch 'shooter' of into shooter

17c55ea

change wpilib version

10d67ce

Create Autonomous class

abc8e71

add loggablegyro

dd21d55

NotMePipe added 3 commits March 14, 2022 20:34

Fix wall detection

9c9ee56

Create current-test.json

b2f234e

Update motor currents during auto

3e902ee

qlty-cloud-legacy Bot reviewed Mar 15, 2022

View reviewed changes

NotMePipe added 3 commits March 14, 2022 20:43

Remove print lines

99a48e0

Remove unused JsonParser variable

9da9673

Begin autonomous sequence (Shooter broken)

920e519

qlty-cloud-legacy Bot reviewed Mar 18, 2022

View reviewed changes

GingerJakeDaBoi and others added 3 commits March 21, 2022 20:17

Make amount a Double

7ac1e22

Co-authored-by: theblindbandet <me@thisismy.computer>

Check if args exists before adding items from it

abbc681

Co-authored-by: theblindbandet <me@thisismy.computer>

Auto-format

10123cd

qlty-cloud-legacy Bot reviewed Mar 22, 2022

View reviewed changes

Throw more descriptive error if type is missing

0ad994e

Co-authored-by: NotMePipe <mepipeofficial@gmail.com> Co-authored-by: theblindbandet <me@thisismy.computer>

qlty-cloud-legacy Bot reviewed Mar 22, 2022

View reviewed changes

GingerJakeDaBoi added 3 commits March 21, 2022 20:44

Fix wait method

ca96607

Remove debug print statements

a9bafeb

Configure shooter for Parsec for auto testing

ff4d886

qlty-cloud-legacy Bot reviewed Mar 22, 2022

View reviewed changes

NotMePipe and others added 3 commits March 22, 2022 19:33

Add Shooter TeleOp functionality (setSpeed broken)

1a46ce6

Merge branch 'shooter' into autonomous

e79bcbc

Add method to get path of auto file

609dec8

As a plus, it also works in simulations now! Co-authored-by: theblindbandet <me@thisismy.computer>

qlty-cloud-legacy Bot reviewed Mar 23, 2022

View reviewed changes

NotMePipe and others added 7 commits March 23, 2022 20:59

Finalize autonomous (not tested yet)

b490579

Merge branch 'master' of https://github.com/RAR1741/RA22_RobotCode in…

2f4c8f5

…to autonomous

fix drivetrain merge breaking

6f6d66c

Merge branch 'autonomous' of https://github.com/RAR1741/RA22_RobotCode …

4940807

…into autonomous

Remove Parsec configuration

96ebcc6

Get rid of useless TODOs

20c463b

Update Solenoid IDs

94bf62c


		public class JsonAutonomous extends Autonomous implements Loggable {

		private static final double TICKS_PER_ROTATION = 16750; // TODO: Update value for 2022 robot

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NotMePipe commented Feb 22, 2022

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codecov Bot commented Feb 22, 2022 •

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