Try

build.gradle

@@ -104,13 +104,6 @@ repositories {
 
 	mavenLocal()
 	mavenCentral()
-	maven {
-        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
-        credentials {
-            username = "Mechanical-Advantage-Bot"
-            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
-        }
-    }
 }
 
 // Setup eclipse classpath settings, so the javadoc and sources are available in eclipse
@@ -121,12 +114,6 @@ eclipse {
     }
 }
 
-// task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-//     mainClass = "org.littletonrobotics.junction.CheckInstall"
-//     classpath = sourceSets.main.runtimeClasspath
-// }
-// compileJava.finalizedBy checkAkitInstall
-
 
 // Defining dependencies. In this case, WPILib (+ friends), and some vendor libraries (NavX, CTRE)
 dependencies {
@@ -136,9 +123,6 @@ dependencies {
 
 	implementation 'org.java-websocket:Java-WebSocket:1.4.1'
     implementation group: 'com.googlecode.json-simple', name: 'json-simple', version: '1.1.1'
-
-	def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 
     // For reference, here are a few more of the easy to add libraries not currently used:
    	//implementation pathfinder() (Jaci's)

doc/common/core/misc/NAR_Robot.html

@@ -86,15 +86,12 @@ <h1 title="Class NAR_Robot" class="title">Class NAR_Robot</h1>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">NAR_Robot</span>
 <span class="extends-implements">extends edu.wpi.first.wpilibj.IterativeRobotBase</span></div>
 <div class="block">Team 3128's Custom Robot class
-
- <p> Includes AdvantageKit and addPeriodic()
-
+
  <p>NOTES:
  <ul>
  <li> TimedRobot implements the IterativeRobotBase robot program framework.
  <li> The TimedRobot class is intended to be subclassed by a user creating a robot program.
  <li> Periodic() functions from the base class are called on an interval by a Notifier instance.
- <li> AdvantageKit logging is disabled by default. 
  </ul>
 
  <p> ----------------------------------------------</div>
@@ -132,9 +129,6 @@ <h2>Field Summary</h2>
 <div class="col-first even-row-color"><code>static final double</code></div>
 <div class="col-second even-row-color"><code><a href="#kDefaultPeriod" class="member-name-link">kDefaultPeriod</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><code>static boolean</code></div>
-<div class="col-second odd-row-color"><code><a href="#logWithAdvantageKit" class="member-name-link">logWithAdvantageKit</a></code></div>
-<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -184,23 +178,17 @@ <h2>Method Summary</h2>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
 <div class="block">Add a callback to run at a specific period with a starting time offset.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#addReceiver(boolean,common.core.misc.NAR_Robot.LoggingState)" class="member-name-link">addReceiver</a><wbr>(boolean&nbsp;port,
- <a href="NAR_Robot.LoggingState.html" title="enum class in common.core.misc">NAR_Robot.LoggingState</a>&nbsp;state)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
-<div class="block">Add a data receiver for Adv Kit logging to a USB drive.</div>
-</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#close()" class="member-name-link">close</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#endCompetition()" class="member-name-link">endCompetition</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Ends the main loop in startCompetition().</div>
-</div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#close()" class="member-name-link">close</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#startCompetition()" class="member-name-link">startCompetition</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#endCompetition()" class="member-name-link">endCompetition</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Ends the main loop in startCompetition().</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#startCompetition()" class="member-name-link">startCompetition</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Provide an alternate "main loop" via startCompetition().</div>
 </div>
 </div>
@@ -227,12 +215,6 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 <h2>Field Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="logWithAdvantageKit">
-<h3>logWithAdvantageKit</h3>
-<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">logWithAdvantageKit</span></div>
-</section>
-</li>
-<li>
 <section class="detail" id="kDefaultPeriod">
 <h3>kDefaultPeriod</h3>
 <div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">kDefaultPeriod</span></div>
@@ -304,20 +286,6 @@ <h3>startCompetition</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="addReceiver(boolean,common.core.misc.NAR_Robot.LoggingState)">
-<h3>addReceiver</h3>
-<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addReceiver</span><wbr><span class="parameters">(boolean&nbsp;port,
- <a href="NAR_Robot.LoggingState.html" title="enum class in common.core.misc">NAR_Robot.LoggingState</a>&nbsp;state)</span></div>
-<div class="block">Add a data receiver for Adv Kit logging to a USB drive.</div>
-<dl class="notes">
-<dt>Parameters:</dt>
-<dd><code>port</code> - true if USB drive is plugged into the top port, false if it is
-              plugged into the bottom port.</dd>
-<dd><code>state</code> - session logging or full match logging.</dd>
-</dl>
-</section>
-</li>
-<li>
 <section class="detail" id="endCompetition()">
 <h3>endCompetition</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">endCompetition</span>()</div>

doc/common/core/subsystems/ElevatorTemplate.html

@@ -158,7 +158,7 @@ <h2>Method Summary</h2>
 <div class="block">Returns the measurement of the process variable used by the PIDController.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#moveElevator(double)" class="member-name-link">moveElevator</a><wbr>(double&nbsp;setpoint)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pidTo(double)" class="member-name-link">pidTo</a><wbr>(double&nbsp;setpoint)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Moves elevator to a setpoint.</div>
 </div>
@@ -168,7 +168,7 @@ <h2>Method Summary</h2>
 <div class="block">Reset elevator position.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runElevator(double)" class="member-name-link">runElevator</a><wbr>(double&nbsp;power)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#run(double)" class="member-name-link">run</a><wbr>(double&nbsp;power)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Sets elevator power.</div>
 </div>
@@ -183,7 +183,7 @@ <h2>Method Summary</h2>
 </div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-common.core.subsystems.NAR_PIDSubsystem">Methods inherited from class&nbsp;common.core.subsystems.<a href="NAR_PIDSubsystem.html" title="class in common.core.subsystems">NAR_PIDSubsystem</a></h3>
-<code><a href="NAR_PIDSubsystem.html#atSetpoint()">atSetpoint</a>, <a href="NAR_PIDSubsystem.html#disable()">disable</a>, <a href="NAR_PIDSubsystem.html#enable()">enable</a>, <a href="NAR_PIDSubsystem.html#enableContinuousInput(double,double)">enableContinuousInput</a>, <a href="NAR_PIDSubsystem.html#getController()">getController</a>, <a href="NAR_PIDSubsystem.html#getSetpoint()">getSetpoint</a>, <a href="NAR_PIDSubsystem.html#initShuffleboard()">initShuffleboard</a>, <a href="NAR_PIDSubsystem.html#isDebug()">isDebug</a>, <a href="NAR_PIDSubsystem.html#isEnabled()">isEnabled</a>, <a href="NAR_PIDSubsystem.html#periodic()">periodic</a>, <a href="NAR_PIDSubsystem.html#setConstraints(double,double)">setConstraints</a>, <a href="NAR_PIDSubsystem.html#setkG_Function(java.util.function.DoubleSupplier)">setkG_Function</a>, <a href="NAR_PIDSubsystem.html#setSafetyThresh(double)">setSafetyThresh</a>, <a href="NAR_PIDSubsystem.html#setTolerance(double)">setTolerance</a>, <a href="NAR_PIDSubsystem.html#setUpdateTime(double)">setUpdateTime</a>, <a href="NAR_PIDSubsystem.html#startPID(double)">startPID</a></code></div>
+<code><a href="NAR_PIDSubsystem.html#addDisableCondition(java.util.function.BooleanSupplier)">addDisableCondition</a>, <a href="NAR_PIDSubsystem.html#atSetpoint()">atSetpoint</a>, <a href="NAR_PIDSubsystem.html#disable()">disable</a>, <a href="NAR_PIDSubsystem.html#enable()">enable</a>, <a href="NAR_PIDSubsystem.html#enableContinuousInput(double,double)">enableContinuousInput</a>, <a href="NAR_PIDSubsystem.html#getController()">getController</a>, <a href="NAR_PIDSubsystem.html#getDisableConditions()">getDisableConditions</a>, <a href="NAR_PIDSubsystem.html#getSetpoint()">getSetpoint</a>, <a href="NAR_PIDSubsystem.html#initShuffleboard()">initShuffleboard</a>, <a href="NAR_PIDSubsystem.html#isDebug()">isDebug</a>, <a href="NAR_PIDSubsystem.html#isEnabled()">isEnabled</a>, <a href="NAR_PIDSubsystem.html#onConstraintViolation()">onConstraintViolation</a>, <a href="NAR_PIDSubsystem.html#onSafetyTimeout()">onSafetyTimeout</a>, <a href="NAR_PIDSubsystem.html#periodic()">periodic</a>, <a href="NAR_PIDSubsystem.html#setConstraints(double,double)">setConstraints</a>, <a href="NAR_PIDSubsystem.html#setkG_Function(java.util.function.DoubleSupplier)">setkG_Function</a>, <a href="NAR_PIDSubsystem.html#setSafetyThresh(double)">setSafetyThresh</a>, <a href="NAR_PIDSubsystem.html#setTolerance(double)">setTolerance</a>, <a href="NAR_PIDSubsystem.html#setUpdateTime(double)">setUpdateTime</a>, <a href="NAR_PIDSubsystem.html#startPID(double)">startPID</a></code></div>
 <div class="inherited-list">
 <h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.SubsystemBase">Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.SubsystemBase</h3>
 <code>addChild, getName, getSubsystem, initSendable, setName, setSubsystem</code></div>
@@ -277,9 +277,9 @@ <h3>getMeasurement</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="moveElevator(double)">
-<h3>moveElevator</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">moveElevator</span><wbr><span class="parameters">(double&nbsp;setpoint)</span></div>
+<section class="detail" id="pidTo(double)">
+<h3>pidTo</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">pidTo</span><wbr><span class="parameters">(double&nbsp;setpoint)</span></div>
 <div class="block">Moves elevator to a setpoint.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
@@ -290,9 +290,9 @@ <h3>moveElevator</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="runElevator(double)">
-<h3>runElevator</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">runElevator</span><wbr><span class="parameters">(double&nbsp;power)</span></div>
+<section class="detail" id="run(double)">
+<h3>run</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">run</span><wbr><span class="parameters">(double&nbsp;power)</span></div>
 <div class="block">Sets elevator power.</div>
 <dl class="notes">
 <dt>Parameters:</dt>

doc/common/core/subsystems/ManipulatorTemplate.html

@@ -123,6 +123,8 @@ <h2>Constructor Summary</h2>
 <div class="col-last even-row-color">
 <div class="block">Creates an Manipulator object.</div>
 </div>
+<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(common.hardware.motorcontroller.NAR_Motor...)" class="member-name-link">ManipulatorTemplate</a><wbr>(<a href="../../hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a>...&nbsp;motors)</code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -168,7 +170,7 @@ <h2>Method Summary</h2>
 <div class="block">Outtake a game piece.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runManipulator(double)" class="member-name-link">runManipulator</a><wbr>(double&nbsp;power)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#run(double)" class="member-name-link">run</a><wbr>(double&nbsp;power)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Sets manipulator power.</div>
 </div>
@@ -235,6 +237,12 @@ <h3>ManipulatorTemplate</h3>
 </dl>
 </section>
 </li>
+<li>
+<section class="detail" id="&lt;init&gt;(common.hardware.motorcontroller.NAR_Motor...)">
+<h3>ManipulatorTemplate</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ManipulatorTemplate</span><wbr><span class="parameters">(<a href="../../hardware/motorcontroller/NAR_Motor.html" title="class in common.hardware.motorcontroller">NAR_Motor</a>...&nbsp;motors)</span></div>
+</section>
+</li>
 </ul>
 </section>
 </li>
@@ -276,9 +284,9 @@ <h3>setPower</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="runManipulator(double)">
-<h3>runManipulator</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">runManipulator</span><wbr><span class="parameters">(double&nbsp;power)</span></div>
+<section class="detail" id="run(double)">
+<h3>run</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">run</span><wbr><span class="parameters">(double&nbsp;power)</span></div>
 <div class="block">Sets manipulator power.</div>
 <dl class="notes">
 <dt>Parameters:</dt>