Merge master -> gpd

.vscode/settings.json

@@ -115,9 +115,9 @@
     "xtree": "cpp",
     "xutility": "cpp",
     "queue": "cpp",
-    "*.clang-format": "cpp",
     "expected": "cpp",
-    "source_location": "cpp"
+    "source_location": "cpp",
+    "version": "cpp"
   },
   "wpilib.useWindbgX": true,
   "C_Cpp.errorSquiggles": "enabled",

README.md

@@ -173,8 +173,6 @@ To undo the going back:
 
 ## CppCheck Warnings
 ```
-src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:160:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
-src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
-src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
-src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
+src/frc846/cpp/frc846/math/collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
+src/frc846/cpp/frc846/math/collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
 ```

build.gradle

@@ -135,7 +135,7 @@ spotless {
 }
 
 if (!project.hasProperty('fromCI')) {
-    check.dependsOn spotlessApply
+    spotlessApply
 }
 spotlessCppCheck.onlyIf { !project.hasProperty('fromCI') || project.hasProperty('runningSpotlessCpp') }
 

networktables.json

@@ -183,6 +183,14 @@
       "persistent": true
     }
   },
+  {
+    "name": "/Preferences/Robot/Robot/permissible_current_draw (A)",
+    "type": "double",
+    "value": 300.0,
+    "properties": {
+      "persistent": true
+    }
+  },
   {
     "name": "/Preferences/SwerveDrivetrain/steer_gains/_kP",
     "type": "double",
@@ -254,5 +262,261 @@
     "properties": {
       "persistent": true
     }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/MotorMonkey/min_max_draw (A)",
+    "type": "double",
+    "value": 40.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/MotorMonkey/max_max_draw (A)",
+    "type": "double",
+    "value": 300.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/drive_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/steer_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/drive_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/steer_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/drive_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 16.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/steer_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 12.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/max_speed (fps)",
+    "type": "double",
+    "value": 15.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/max_omega (deg_per_s)",
+    "type": "double",
+    "value": 180.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_lag (s)",
+    "type": "double",
+    "value": 0.05,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/voltage_min (V)",
+    "type": "double",
+    "value": 8.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/recal_voltage_thresh (V)",
+    "type": "double",
+    "value": 10.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/default_max_draw (A)",
+    "type": "double",
+    "value": 150.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/min_max_draw (A)",
+    "type": "double",
+    "value": 60.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/max_max_draw (A)",
+    "type": "double",
+    "value": 250.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/battery_cc (A)",
+    "type": "double",
+    "value": 700.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/MotorMonkey/brownout_perm_loops",
+    "type": "int",
+    "value": 500,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/bearing_gains/_kP",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/bearing_gains/_kI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/bearing_gains/_kD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/bearing_gains/deadband (deg_per_s)",
+    "type": "double",
+    "value": 3.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/lock_gains/_kP",
+    "type": "double",
+    "value": 0.5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/lock_gains/_kI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/lock_gains/_kD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/lock_gains/deadband (in)",
+    "type": "double",
+    "value": 2.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/drive_to_subtract (in)",
+    "type": "double",
+    "value": 5.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/max_omega_cut (deg_per_s)",
+    "type": "double",
+    "value": 40.0,
+    "properties": {
+      "persistent": true
+    }
   }
 ]