Updating to a "robot" project, starting tests on pid controls

.classpath

@@ -1,18 +1,68 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry kind="src" output="bin/main" path="src/main/java">
+	<classpathentry kind="src" output="bin/default" path="src/main/java">
 		<attributes>
 			<attribute name="gradle_scope" value="main"/>
 			<attribute name="gradle_used_by_scope" value="main,test"/>
 		</attributes>
 	</classpathentry>
 	<classpathentry kind="src" output="bin/test" path="src/test/java">
 		<attributes>
-			<attribute name="gradle_scope" value="test"/>
-			<attribute name="gradle_used_by_scope" value="test"/>
+			<attribute name="test" value="true"/>
 		</attributes>
 	</classpathentry>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11/"/>
 	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8/"/>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2019.4.1/181d600aa0815fca956ff6903748e99be9025949/wpilibj-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2019.4.1/ba505e826a3d95e2acc68d1c219bb55781cd2b94/wpilibj-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/2019.4.1/9dd5e2cf0d5080b10e19fb88d9372a170f7a034/ntcore-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/2019.4.1/ca376b47a204864e5bcd5b83d6219e07b42416c0/ntcore-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/2019.4.1/5baa3eec5cac7654236b16afd3f0198bbe5dc946/wpiutil-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/2019.4.1/9b52975ba2540ee79b4ef0d2657104867e8e61d0/wpiutil-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.thirdparty.frc2019.opencv/opencv-java/3.4.4-4/5c546c223045ef680e643d97726623031831b1c5/opencv-java-3.4.4-4.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.thirdparty.frc2019.opencv/opencv-java/3.4.4-4/d433924d21ac1a7c0375495d982f61eb047484cb/opencv-java-3.4.4-4-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/2019.4.1/c7eee2f82bf88c65f62a042828bf0944a2a475bb/cscore-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/2019.4.1/372c1bff1cae104383c1930bcda43ab9a2b8dce9/cscore-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cameraserver/cameraserver-java/2019.4.1/d0d4a27f87a6b87eeed4ddc21964a0bc6e9e372/cameraserver-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cameraserver/cameraserver-java/2019.4.1/e7853496f55bdfbd5142b91f916cbed6cba7372/cameraserver-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.hal/hal-java/2019.4.1/fe4aec01e745838fa6997fba26b0917e35af9480/hal-java-2019.4.1.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/edu.wpi.first.hal/hal-java/2019.4.1/88dcf5f101b260d9a332f5dfe4eb373d26e70a68/hal-java-2019.4.1-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.ctre.phoenix/api-java/5.12.0/67bee152c70e47d981b1ecb1b7d6b59465aa506e/api-java-5.12.0.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.ctre.phoenix/api-java/5.12.0/aca8d84775394631caa2992da07e3b11f14bc513/api-java-5.12.0-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.ctre.phoenix/wpiapi-java/5.12.0/a355071240b46081f86795119258fa2ffa1401e5/wpiapi-java-5.12.0.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.ctre.phoenix/wpiapi-java/5.12.0/7ba7915eee25afd745d0c76be698132d71c8f519/wpiapi-java-5.12.0-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.revrobotics.frc/SparkMax-java/1.1.9/b43056fe8c9091a3fbc599ce4460bf8c4f4c51b4/SparkMax-java-1.1.9.jar" sourcepath="C:/Users/s-oronae/.gradle/caches/modules-2/files-2.1/com.revrobotics.frc/SparkMax-java/1.1.9/7476b1fe2651507a6a4c9533ea77994254af4025/SparkMax-java-1.1.9-sources.jar">
+		<attributes>
+			<attribute name="gradle_used_by_scope" value="main"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="C:/Users/s-oronae/.m2/repository/junit/junit/4.12/junit-4.12.jar"/>
 	<classpathentry kind="output" path="bin/default"/>
 </classpath>

.project

@@ -2,22 +2,21 @@
 <projectDescription>
 	<name>2412RobotLibrary</name>
 	<comment></comment>
-	<projects>
-	</projects>
+	<projects/>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.jdt.core.javabuilder</name>
-			<arguments>
-			</arguments>
+			<arguments/>
 		</buildCommand>
 		<buildCommand>
 			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
-			<arguments>
-			</arguments>
+			<arguments/>
 		</buildCommand>
 	</buildSpec>
-	<natures>
-		<nature>org.eclipse.jdt.core.javanature</nature>
-		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
-	</natures>
+	<linkedResources/>
+	<filteredResources/>
 </projectDescription>

.settings/org.eclipse.jdt.core.prefs

@@ -1,11 +1,13 @@
+#
+#Thu Dec 26 23:28:02 PST 2019
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.compliance=1.8
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=11
-org.eclipse.jdt.core.compiler.compliance=11
+org.eclipse.jdt.core.compiler.source=1.8
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
-org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
-org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
-org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
-org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=ignore
-org.eclipse.jdt.core.compiler.release=disabled
-org.eclipse.jdt.core.compiler.source=11

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": false,
+  "currentLanguage": "java",
+  "projectYear": "Beta2019",
+  "teamNumber": 9999
+}

build.gradle

@@ -1,39 +1,32 @@
-/*
- * This file was generated by the Gradle 'init' task.
- */
-
-plugins {
-    id 'java'
-    id 'maven-publish'
-    id 'eclipse'
-}
-
-repositories {
-    mavenLocal()
-    maven {
-        url = 'https://repo1.maven.org/maven2/'
-    }
-
-    maven {
-        url = 'https://first.wpi.edu/FRC/roborio/maven/release/'
-    }
-
-    maven {
-        url = 'http://www.revrobotics.com/content/sw/max/sdk/maven/'
-    }
-}
-
-dependencies {
-    compile 'edu.wpi.first.wpilibj:wpilibj-java:2019.4.1'
-    compile 'edu.wpi.first.wpiutil:wpiutil-java:2019.4.1'
-    compile 'com.revrobotics.frc:SparkMax-java:1.5.0'
-    testCompile 'junit:junit:4.12'
-	testCompile 'org.mockito:mockito-core:3.2.0'
-	testCompile 'net.bytebuddy:byte-buddy-agent:1.10.3'
-	testCompile 'net.bytebuddy:byte-buddy:1.10.3'
-	testCompile 'org.objenesis:objenesis:2.6'
-}
-
-group = '2412RobotLibrary'
-version = '0.1'
-sourceCompatibility = '1.11'
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2019.4.1"
+    id "eclipse"
+}
+
+repositories {
+    mavenLocal()
+    mavenCentral()
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    testCompile 'junit:junit:4.12'
+    testCompile 'org.mockito:mockito-core:3.2.0'
+	testCompile 'net.bytebuddy:byte-buddy-agent:1.10.3'
+	testCompile 'net.bytebuddy:byte-buddy:1.10.3'
+	testCompile 'org.objenesis:objenesis:2.6'
+	testCompile 'org.junit.jupiter:junit-jupiter-api:5.2.0'
+    testCompile 'org.junit.jupiter:junit-jupiter-params:5.2.0'
+    testCompile 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
+}
+
+
+wrapper {
+    gradleVersion = '5.0'
+}

build.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.4-bin.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists

gradlew

@@ -1,21 +1,5 @@
 #!/usr/bin/env sh
 
-#
-# Copyright 2015 the original author or authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
@@ -44,7 +28,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"

gradlew.bat

@@ -1,19 +1,3 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      http://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
 @if "%DEBUG%" == "" @echo off
 @rem ##########################################################################
 @rem
@@ -30,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

settings.gradle

@@ -1,5 +1,27 @@
-/*
- * This file was generated by the Gradle 'init' task.
- */
+import org.gradle.internal.os.OperatingSystem
 
-rootProject.name = '2412RobotLibrary'
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2019'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            frcHome = new File(publicFolder, "frc${frcYear}")
+        } else {
+            def userFolder = System.getProperty("user.home")
+            frcHome = new File(userFolder, "frc${frcYear}")
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
+
+rootProject.name = '2412RobotLibrary'

site.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<site>
+   <feature url="features/edu.wpi.first.wpilib.plugins.cpp.feature_2018.4.1.jar" id="edu.wpi.first.wpilib.plugins.cpp.feature" version="2018.4.1">
+      <category name="edu.wpi.first.wpilib.plugins"/>
+   </feature>
+   <feature url="features/edu.wpi.first.wpilib.plugins.java.feature_2018.4.1.jar" id="edu.wpi.first.wpilib.plugins.java.feature" version="2018.4.1">
+      <category name="edu.wpi.first.wpilib.plugins"/>
+   </feature>
+   <category-def name="edu.wpi.first.wpilib.plugins" label="WPILib Robot Development">
+      <description>
+         Core WPILib Robot Development Tools.
+      </description>
+   </category-def>
+</site>

src/main/java/com/robototes/motors/PIDCanSparkMax.java

@@ -10,7 +10,7 @@
 import com.robototes.units.UnitTypes.TimeUnits;
 
 /**
- * A wrapper class for CANSparkMax by Revrobotics. Allows for PID Control of the
+ * A wrapper class for CANSparkMax by RevRobotics. Allows for PID Control of the
  * motor
  * 
  * @author Eli Orona