Fix last import bug and add spotless to ci check

.github/workflows/main.yml

@@ -28,3 +28,19 @@ jobs:
     # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
       run: ./gradlew build
+
+  # Check code formatting with Spotless
+  spotless:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - uses: actions/setup-java@v4
+      with:
+        distribution: 'zulu'
+        java-version: 17
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Check code formatting
+      run: ./gradlew spotlessCheck

src/main/java/frc/robot/Constants.java

@@ -13,21 +13,19 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.AngularAccelerationUnit;
-import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -97,7 +95,8 @@ public class HopperConstants {
     public static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
     public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
-    public static final AngularAcceleration ANGULAR_ACCELERATION = RotationsPerSecondPerSecond.of(1);
+    public static final AngularAcceleration ANGULAR_ACCELERATION =
+        RotationsPerSecondPerSecond.of(1);
   }
 
   public class Ports {
@@ -152,7 +151,7 @@ public class FeederConstants {
     public static final AngularVelocity FEED_SPEED = RotationsPerSecond.of(0.0);
     public static final AngularAcceleration FEED_ACCELERATION = RotationsPerSecondPerSecond.of(0.0);
   }
-  
+
   public class ClimberConstants {
     public static final Distance TOLERANCE = Inches.of(0.1);
     public static final double GEARING = (5.0 / 1.0);

src/main/java/frc/robot/subsystems/LEDs/LEDs.java

@@ -10,7 +10,6 @@ public LEDs(LightsIO io) {
     _io = io;
   }
 
-    @Override
-    public void periodic() {}
-
+  @Override
+  public void periodic() {}
 }

src/main/java/frc/robot/subsystems/Vision/Vision.java

@@ -1,18 +1,15 @@
 package frc.robot.subsystems.Vision;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
 import frc.lib.W8.io.vision.VisionIO;
 
 public class Vision extends SubsystemBase {
-    private final VisionIO _io;
+  private final VisionIO _io;
 
-    public Vision(VisionIO io) {
-        _io = io;
-    }
+  public Vision(VisionIO io) {
+    _io = io;
+  }
 
-    @Override
-    public void periodic() {
-
-    }
+  @Override
+  public void periodic() {}
 }

src/main/java/frc/robot/subsystems/hopper/Hopper.java

@@ -1,43 +1,44 @@
 package frc.robot.subsystems.hopper;
 
+import static edu.wpi.first.units.Units.*;
 import static edu.wpi.first.units.Units.Inches;
 
+import edu.wpi.first.units.measure.*;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
-import frc.robot.Constants;
 import frc.robot.Constants.HopperConstants;
-
-import static edu.wpi.first.units.Units.*;
-
-import edu.wpi.first.units.measure.*;
 import frc.robot.Constants.HopperConstants.*;
 
 public class Hopper extends SubsystemBase {
-    private FlywheelMechanism _io;
+  private FlywheelMechanism _io;
 
-    public enum State
-    {
-        OFF (RevolutionsPerSecond.of(0.0)),
-        FORWARD_SLOW (RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM/60)),
-        FORWARD_FAST (RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM/60)),
-        REVERSE (RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM/60));
+  public enum State {
+    OFF(RevolutionsPerSecond.of(0.0)),
+    FORWARD_SLOW(RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM / 60)),
+    FORWARD_FAST(RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM / 60)),
+    REVERSE(RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM / 60));
 
-        private final AngularVelocity _stateVelocity;
+    private final AngularVelocity _stateVelocity;
 
-        private State(AngularVelocity stateVelocity) {
-            _stateVelocity = stateVelocity;
-        }
+    private State(AngularVelocity stateVelocity) {
+      _stateVelocity = stateVelocity;
     }
+  }
 
-    public Hopper(FlywheelMechanism io) {
-        _io = io;
-    }
+  public Hopper(FlywheelMechanism io) {
+    _io = io;
+  }
 
   public void setGoal(double position) {
     Distance positionInches = Inches.of(position);
-    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
+    _io.runPosition(
+        HopperConstants.CONVERTER.toAngle(positionInches),
+        HopperConstants.ANGULAR_VELOCITY,
+        HopperConstants.ANGULAR_ACCELERATION,
+        null,
+        PIDSlot.SLOT_0);
   }
 
   @Override

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -27,11 +27,11 @@ public void setVelocity(double velocity) {
   }
 
   public AngularVelocity getVelocity() {
-    return _io.getVelocity();
+    return _rollerIO.getVelocity();
   }
 
   public Angle getPosition() {
-    return _io.getPosition();
+    return _pivotIO.getPosition();
   }
 
   public void stop() {

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -2,23 +2,13 @@
 
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
+import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
-import frc.robot.Constants.ShooterConstants;
-
-import static edu.wpi.first.units.Units.Inches;
-import static edu.wpi.first.units.Units.Meters;
-import static edu.wpi.first.units.Units.Rotations;
-import static edu.wpi.first.units.Units.RotationsPerSecond;
-import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
-import static edu.wpi.first.units.Units.Second;
-import edu.wpi.first.units.Units;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.Constants.FeederConstants;
 import frc.robot.Constants.ShooterConstants;
 
@@ -48,14 +38,15 @@ public void setFlywheelVelocity(double velocity) {
   }
 
   public enum State {
-    OFF(Units.RevolutionsPerSecond.of(0.0)), 
-    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM/60)), 
-    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM/60)), 
-    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM/60)), 
-    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60)), 
-    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60));
-    
+    OFF(Units.RevolutionsPerSecond.of(0.0)),
+    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM / 60)),
+    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM / 60)),
+    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM / 60)),
+    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60)),
+    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60));
+
     private final AngularVelocity stateVelocity;
+
     State(AngularVelocity stateVelocity) {
       this.stateVelocity = stateVelocity;
     }
@@ -72,18 +63,17 @@ public Command shoot(double velocity) {
             () -> {
               setFlywheelVelocity(velocity);
             })
-        .until(
-            () -> flyAtVelocity())
+        .until(() -> flyAtVelocity())
         .andThen(
             () -> {
               runFeeder();
             })
         .andThen(
-          ()->{
-            setFlywheelVelocity(0);
-          });
+            () -> {
+              setFlywheelVelocity(0);
+            });
   }
- 
+
   @Override
   public void periodic() {}
 }