move robot-specific code to sub-package (#1)

src/main/java/com/team766/hal/GenericRobotMain.java

@@ -8,9 +8,9 @@
 import com.team766.logging.Category;
 import com.team766.logging.Logger;
 import com.team766.logging.Severity;
-import com.team766.robot.AutonomousModes;
-import com.team766.robot.OI;
-import com.team766.robot.Robot;
+import com.team766.robot.example.AutonomousModes;
+import com.team766.robot.example.OI;
+import com.team766.robot.example.Robot;
 import com.team766.web.AutonomousSelector;
 import com.team766.web.ConfigUI;
 import com.team766.web.Dashboard;

src/main/java/com/team766/robot/example/AutonomousModes.java

@@ -0,0 +1,19 @@
+package com.team766.robot.example;
+
+import com.team766.framework.AutonomousMode;
+import com.team766.robot.example.procedures.*;
+
+public class AutonomousModes {
+    public static final AutonomousMode[] AUTONOMOUS_MODES =
+            new AutonomousMode[] {
+                // Add autonomous modes here like this:
+                //    new AutonomousMode("NameOfAutonomousMode", () -> new MyAutonomousProcedure()),
+                //
+                // If your autonomous procedure has constructor arguments, you can
+                // define one or more different autonomous modes with it like this:
+                //    new AutonomousMode("DriveFast", () -> new DriveStraight(1.0)),
+                //    new AutonomousMode("DriveSlow", () -> new DriveStraight(0.4)),
+
+                new AutonomousMode("DoNothing", () -> new DoNothing()),
+            };
+}

src/main/java/com/team766/robot/example/OI.java

@@ -0,0 +1,37 @@
+package com.team766.robot.example;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.hal.JoystickReader;
+import com.team766.hal.RobotProvider;
+import com.team766.logging.Category;
+import com.team766.robot.example.procedures.*;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the code that allow control of the robot.
+ */
+public class OI extends Procedure {
+    private JoystickReader joystick0;
+    private JoystickReader joystick1;
+    private JoystickReader joystick2;
+
+    public OI() {
+        loggerCategory = Category.OPERATOR_INTERFACE;
+
+        joystick0 = RobotProvider.instance.getJoystick(0);
+        joystick1 = RobotProvider.instance.getJoystick(1);
+        joystick2 = RobotProvider.instance.getJoystick(2);
+    }
+
+    public void run(final Context context) {
+        while (true) {
+            // wait for driver station data (and refresh it using the WPILib APIs)
+            context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
+            RobotProvider.instance.refreshDriverStationData();
+
+            // Add driver controls here - make sure to take/release ownership
+            // of mechanisms when appropriate.
+        }
+    }
+}

src/main/java/com/team766/robot/example/README.md

@@ -0,0 +1,22 @@
+Package for robot-specific code.  Copy this example package for each robot,
+eg reva, revb, burrobotprime, gatorade, etc.
+
+Each package will contain the following:
+* `Robot.java` - contains static references to that robot's mechanisms.
+* `OI.java` - procedure for reading joystick input, controlling the robot via the Operator Interface.
+* `AutonomousModes.java` - contains array of autonomous procedures for this robot.
+* `mechanisms` - sub-package containing mechanisms for this robot.
+* `procedures` - sub-package containing procedures for this robot.
+
+Once you've created the appropriate package for this robot, remember to update
+`com.team766.hal.GenericRobotMain` to reference this code.  This will typically involve
+updating the following imports:
+
+    import com.team766.robot.example.AutonomousModes;
+    import com.team766.robot.example.OI;
+    import com.team766.robot.example.Robot;
+
+By organizing your code with a sub-package for each robot, with the exception of `GenericRobotMain`,
+the code for each of our robots should be able to co-exist across branches.
+
+NOTE: **You should only update `GenericRobotMain` on the branch that's specific to your robot.**

src/main/java/com/team766/robot/example/Robot.java

@@ -0,0 +1,11 @@
+package com.team766.robot.example;
+
+import com.team766.robot.example.mechanisms.*;
+
+public class Robot {
+    // Declare mechanisms here
+
+    public static void robotInit() {
+        // Initialize mechanisms here
+    }
+}

src/main/java/com/team766/robot/example/mechanisms/ExampleMechanism.java

@@ -0,0 +1,22 @@
+package com.team766.robot.example.mechanisms;
+
+import com.team766.framework.Mechanism;
+import com.team766.hal.MotorController;
+import com.team766.hal.RobotProvider;
+
+public class ExampleMechanism extends Mechanism {
+    private MotorController leftMotor;
+    private MotorController rightMotor;
+
+    public ExampleMechanism() {
+        leftMotor = RobotProvider.instance.getMotor("exampleMechanism.leftMotor");
+        rightMotor = RobotProvider.instance.getMotor("exampleMechanism.rightMotor");
+    }
+
+    public void setMotorPower(final double leftPower, final double rightPower) {
+        checkContextOwnership();
+
+        leftMotor.set(leftPower);
+        rightMotor.set(rightPower);
+    }
+}

src/main/java/com/team766/robot/procedures/DoNothing.java → src/main/java/com/team766/robot/example/procedures/DoNothing.java

@@ -1,11 +1,9 @@
-package com.team766.robot.procedures;
+package com.team766.robot.example.procedures;
 
 import com.team766.framework.Context;
 import com.team766.framework.Procedure;
 
 public class DoNothing extends Procedure {
 
-	public void run(final Context context) {
-	}
-
-}
+    public void run(final Context context) {}
+}