WIP: Initial robot code

.vscode/settings.json

@@ -29,6 +29,14 @@
   ],
   "java.test.defaultConfig": "WPIlibUnitTests",
   "java.import.gradle.annotationProcessing.enabled": true,
+  "java.compile.nullAnalysis.nonnull": [
+    "javax.annotation.Nonnull",
+    "org.eclipse.jdt.annotation.NonNull",
+    "org.springframework.lang.NonNull",
+    "org.jspecify.annotations.NonNull",
+    "org.jetbrains.annotations.NotNull"
+  ],
+  "java.import.gradle.wrapper.enabled": true,
   "java.completion.favoriteStaticMembers": [
     "org.junit.Assert.*",
     "org.junit.Assume.*",
@@ -39,7 +47,9 @@
     "org.mockito.Mockito.*",
     "org.mockito.ArgumentMatchers.*",
     "org.mockito.Answers.*",
-    "edu.wpi.first.units.Units.*"
+    "edu.wpi.first.units.Units.*",
+    "com.frc6324.**.*",
+    null
   ],
   "java.completion.filteredTypes": [
     "java.awt.*",
@@ -58,5 +68,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*"
-  ]
+  ],
+  "java.debug.settings.onBuildFailureProceed": true
 }

annotations/src/main/java/com/frc6324/lib/LazySingleton.java

@@ -0,0 +1,11 @@
+package com.frc6324.lib;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/** Marks a 'singleton' class that is lazily initialized. */
+@Target(ElementType.TYPE)
+@Retention(RetentionPolicy.SOURCE)
+public @interface LazySingleton {}

ascope_assets/Robot_TestBot/config.json

@@ -19,7 +19,7 @@
   "position": [
     0,
     0,
-    0
+    0.0635
   ],
   "cameras": [],
   "components": [
@@ -30,6 +30,27 @@
           "degrees": 90.0
         }
       ],
+      "zeroedPosition": [
+        0.17145,
+        -0.34925,
+        0.06975
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90.0
+        },
+        {
+          "axis": "y",
+          "degrees": 180.0
+        },
+        {
+          "axis": "z",
+          "degrees": 180.0
+        }
+      ],
       "zeroedPosition": [
         0,
         0,

build.gradle

@@ -41,7 +41,7 @@ deploy {
                     jvmArgs.add("-XX:Tier4InvocationThreshold=2500")
 
                     jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
-                    jvmArgs.add("-XX:GCTimeRatio=9")
+                    jvmArgs.add("-XX:GCTimeRatio=5")
                     jvmArgs.add("-XX:+UseSerialGC")
                     jvmArgs.add("-XX:MaxGCPauseMillis=50")
                     jvmArgs.add("-XX:+TieredCompilation")
@@ -90,6 +90,9 @@ dependencies {
     compileOnly 'org.jetbrains:annotations:26.0.2-1'
 
     annotationProcessor project(":processor")
+    annotationProcessor project(":annotations")
+
+    compileOnly project(":processor")
     implementation project(":annotations")
 
     annotationProcessor wpi.java.deps.wpilibAnnotations()