From e2bf787705acce2f764565e983cae04fd282d278 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 09:24:46 -0700
Subject: [PATCH 01/15] rename OICondition to Condition, since this class is
 within OIFragment.

---
 .../com/team766/framework/OIFragment.java     | 20 +++++++++----------
 .../com/team766/robot/common/DriverOI.java    |  4 ++--
 .../java/com/team766/robot/reva/BoxOpOI.java  | 12 +++++------
 .../java/com/team766/robot/reva/DebugOI.java  | 20 +++++++++----------
 4 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index db7af9c4f..2cdd337b3 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -5,24 +5,24 @@
 import java.util.function.BooleanSupplier;
 
 /**
- * Fragment of an OI, with facilities to make it easy to set up {@link OICondition}s for usage in the fragment's
+ * Fragment of an OI, with facilities to make it easy to set up {@link Condition}s for usage in the fragment's
  * {@link #handleOI} method.
  *
  * The overall OI for a robot will contain a set of fragments, typically one per set of controls (eg, driver, boxop, debug),
  * and it will call {@link #runOI(Context)} once per its own loop.  During each call to {@link #runOI}, the fragment
- * will evaluate any {@link OICondition}s that were created for this fragment.  This simplifies OI logic that checks if a
+ * will evaluate any {@link Condition}s that were created for this fragment.  This simplifies OI logic that checks if a
  * specific condition is currently triggering (eg pressing or holding down a joystick button) or if a condition that had been triggering
  * in a previous iteration of the OI loop is no longer triggering in this iteration.
  */
 public abstract class OIFragment extends LoggingBase {
 
-    protected class OICondition {
+    protected class Condition {
         private final BooleanSupplier condition;
         private boolean triggering = false;
         private boolean newlyTriggering = false;
         private boolean finishedTriggering = false;
 
-        public OICondition(BooleanSupplier condition) {
+        public Condition(BooleanSupplier condition) {
             this.condition = condition;
             register(this);
         }
@@ -53,7 +53,7 @@ public boolean isFinishedTriggering() {
     }
 
     private final String name;
-    private final List<OICondition> conditions = new LinkedList<OICondition>();
+    private final List<Condition> conditions = new LinkedList<Condition>();
 
     /**
      * Creates a new OIFragment.
@@ -67,7 +67,7 @@ public final String getName() {
         return name;
     }
 
-    private void register(OICondition condition) {
+    private void register(Condition condition) {
         conditions.add(condition);
     }
 
@@ -79,10 +79,10 @@ protected void handlePre() {}
 
     /**
      * OIFragments must override this method to implement their OI logic.  Typically called via the overall
-     * OI's loop, once per iteration through the loop.  Can use any {@link OICondition}s
-     * they have set up to simplify checking if the {@link OICondition} is {@link OICondition#isTriggering()},
+     * OI's loop, once per iteration through the loop.  Can use any {@link Condition}s
+     * they have set up to simplify checking if the {@link Condition} is {@link Condition#isTriggering()},
      * or, if it had been triggering in a previous iteration of the loop, if it is now
-     * {@link OICondition#isFinishedTriggering()}.
+     * {@link Condition#isFinishedTriggering()}.
      *
      * @param context The {@link Context} running the OI.
      */
@@ -100,7 +100,7 @@ protected void handlePost() {}
      */
     public final void runOI(Context context) {
         handlePre();
-        for (OICondition condition : conditions) {
+        for (Condition condition : conditions) {
             condition.evaluate();
         }
         handleOI(context);
diff --git a/src/main/java/com/team766/robot/common/DriverOI.java b/src/main/java/com/team766/robot/common/DriverOI.java
index e06be0fba..fe4540946 100644
--- a/src/main/java/com/team766/robot/common/DriverOI.java
+++ b/src/main/java/com/team766/robot/common/DriverOI.java
@@ -19,7 +19,7 @@ public class DriverOI extends OIFragment {
     protected double leftJoystickY = 0;
     protected boolean isCross = false;
 
-    private final OICondition movingJoysticks;
+    private final Condition movingJoysticks;
 
     public DriverOI(Drive drive, JoystickReader leftJoystick, JoystickReader rightJoystick) {
         super("DriverOI");
@@ -28,7 +28,7 @@ public DriverOI(Drive drive, JoystickReader leftJoystick, JoystickReader rightJo
         this.rightJoystick = rightJoystick;
 
         movingJoysticks =
-                new OICondition(
+                new Condition(
                         () ->
                                 !isCross
                                         && Math.abs(leftJoystickX)
diff --git a/src/main/java/com/team766/robot/reva/BoxOpOI.java b/src/main/java/com/team766/robot/reva/BoxOpOI.java
index 92d940cf4..56517d60d 100644
--- a/src/main/java/com/team766/robot/reva/BoxOpOI.java
+++ b/src/main/java/com/team766/robot/reva/BoxOpOI.java
@@ -19,9 +19,9 @@ public class BoxOpOI extends OIFragment {
     private final Shooter shooter;
     private final Climber climber;
 
-    private final OICondition shooterShoot;
-    private final OICondition intakeOut;
-    private final OICondition intakeIn;
+    private final Condition shooterShoot;
+    private final Condition intakeOut;
+    private final Condition intakeIn;
 
     public BoxOpOI(
             JoystickReader gamepad,
@@ -36,9 +36,9 @@ public BoxOpOI(
         this.shooter = shooter;
         this.climber = climber;
 
-        shooterShoot = new OICondition(() -> gamepad.getAxis(InputConstants.XBOX_RT) > 0);
-        intakeOut = new OICondition(() -> gamepad.getButton(InputConstants.XBOX_RB));
-        intakeIn = new OICondition(() -> gamepad.getButton(InputConstants.XBOX_LB));
+        shooterShoot = new Condition(() -> gamepad.getAxis(InputConstants.XBOX_RT) > 0);
+        intakeOut = new Condition(() -> gamepad.getButton(InputConstants.XBOX_RB));
+        intakeIn = new Condition(() -> gamepad.getButton(InputConstants.XBOX_LB));
     }
 
     @Override
diff --git a/src/main/java/com/team766/robot/reva/DebugOI.java b/src/main/java/com/team766/robot/reva/DebugOI.java
index 702482816..0c8896a02 100644
--- a/src/main/java/com/team766/robot/reva/DebugOI.java
+++ b/src/main/java/com/team766/robot/reva/DebugOI.java
@@ -39,11 +39,11 @@ public class DebugOI extends OIFragment {
     private final Climber climber;
     private final Intake intake;
     private final Shooter shooter;
-    private final OICondition controlShoulder;
-    private final OICondition controlClimber;
-    private final OICondition controlShooter;
-    private final OICondition intakeIn;
-    private final OICondition intakeOut;
+    private final Condition controlShoulder;
+    private final Condition controlClimber;
+    private final Condition controlShooter;
+    private final Condition intakeIn;
+    private final Condition intakeOut;
 
     public DebugOI(
             JoystickReader macropad,
@@ -59,11 +59,11 @@ public DebugOI(
         this.shooter = shooter;
 
         controlShoulder =
-                new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
-        controlClimber = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
-        controlShooter = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
-        intakeIn = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_IN));
-        intakeOut = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_OUT));
+                new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
+        controlClimber = new Condition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
+        controlShooter = new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
+        intakeIn = new Condition(() -> macropad.getButton(InputConstants.INTAKE_IN));
+        intakeOut = new Condition(() -> macropad.getButton(InputConstants.INTAKE_OUT));
     }
 
     @Override

From 22476ed9801183a55574a3228616e36ad40e070f Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 09:26:08 -0700
Subject: [PATCH 02/15] added comment to Math.interpolate javadoc

---
 src/main/java/com/team766/math/Math.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/com/team766/math/Math.java b/src/main/java/com/team766/math/Math.java
index 8270533d4..7f6bce485 100644
--- a/src/main/java/com/team766/math/Math.java
+++ b/src/main/java/com/team766/math/Math.java
@@ -29,6 +29,7 @@ public static double normalizeAngleDegrees(double angle) {
     /**
      * Performs simple linear interpolation (as described in
      * https://en.wikipedia.org/wiki/Linear_interpolation) of data in an array of type T.
+     * NOTE: the data array must be sorted by x, from lowest to highest.
      *
      * The x values (eg measured data and target data point) should be available via a getter in T.
      * The y values (what this interpolates from measured data) should be available via a getter in T.

From 31007cba43a69aca5c2a4b2f8fa2d7afd9e0228e Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 09:50:08 -0700
Subject: [PATCH 03/15] add example DriverOI that uses OI fragments and
 conditions

---
 .../com/team766/framework/OIFragment.java     |  2 +
 src/main/java/com/team766/math/Math.java      |  2 +-
 .../com/team766/robot/example/DriverOI.java   | 38 +++++++++++++++++++
 .../java/com/team766/robot/example/OI.java    | 20 +++++-----
 .../java/com/team766/robot/reva/DebugOI.java  |  3 +-
 5 files changed, 53 insertions(+), 12 deletions(-)
 create mode 100644 src/main/java/com/team766/robot/example/DriverOI.java

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index 2cdd337b3..c9f042829 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -1,5 +1,6 @@
 package com.team766.framework;
 
+import com.team766.logging.Category;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
@@ -60,6 +61,7 @@ public boolean isFinishedTriggering() {
      * @param name The name of this part of the OI (eg, "BoxOpOI").  Used for logging.
      */
     public OIFragment(String name) {
+        loggerCategory = Category.OPERATOR_INTERFACE;
         this.name = name;
     }
 
diff --git a/src/main/java/com/team766/math/Math.java b/src/main/java/com/team766/math/Math.java
index 7f6bce485..8a475412d 100644
--- a/src/main/java/com/team766/math/Math.java
+++ b/src/main/java/com/team766/math/Math.java
@@ -39,7 +39,7 @@ public static double normalizeAngleDegrees(double angle) {
      *   public record Data(double x, double y);
      *   ...
      *   Data[] data = new Data[] { new Data(0.0, 1.0), new Data(1.0, 32.0), ... };
-     *   Math.interpolate(data, 0.5, Data::x, Data::y);
+     *   double interpolatedY = Math.interpolate(data, 0.5, Data::x, Data::y);
      * </pre>
      *
      * @param <T> The class containing the x and y data.
diff --git a/src/main/java/com/team766/robot/example/DriverOI.java b/src/main/java/com/team766/robot/example/DriverOI.java
new file mode 100644
index 000000000..fd4468290
--- /dev/null
+++ b/src/main/java/com/team766/robot/example/DriverOI.java
@@ -0,0 +1,38 @@
+package com.team766.robot.example;
+
+import com.team766.framework.Context;
+import com.team766.framework.OIFragment;
+import com.team766.hal.JoystickReader;
+import com.team766.robot.example.procedures.*;
+
+public class DriverOI extends OIFragment {
+    private final JoystickReader leftJoystick;
+
+    // add mechanisms here
+
+    // add any conditions (joystick inputs, etc)
+    Condition button0;
+    Condition moveJoystick;
+
+    // add any mechanisms to the constructor arguments as well
+    public DriverOI(JoystickReader leftJoystick) {
+        super("DriverOI");
+        this.leftJoystick = leftJoystick;
+
+        button0 = new Condition(() -> leftJoystick.getButton(0));
+        moveJoystick = new Condition(() -> leftJoystick.getAxis(0) > 0);
+    }
+
+    @Override
+    protected void handleOI(Context context) {
+        if (button0.isNewlyTriggering()) {
+            // handle button press
+        } else if (button0.isFinishedTriggering()) {
+            // handle button release
+        }
+
+        if (moveJoystick.isTriggering()) {
+            // handle joystick movement
+        }
+    }
+}
diff --git a/src/main/java/com/team766/robot/example/OI.java b/src/main/java/com/team766/robot/example/OI.java
index ba3a45ee4..ca16c6f25 100644
--- a/src/main/java/com/team766/robot/example/OI.java
+++ b/src/main/java/com/team766/robot/example/OI.java
@@ -5,23 +5,25 @@
 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;
+    // input devices
+    private final JoystickReader leftJoystick;
+    private final JoystickReader gamepad;
+
+    // OIFragments (driver, boxop, etc)
+    private final DriverOI driverOI;
 
     public OI() {
         loggerCategory = Category.OPERATOR_INTERFACE;
 
-        joystick0 = RobotProvider.instance.getJoystick(0);
-        joystick1 = RobotProvider.instance.getJoystick(1);
-        joystick2 = RobotProvider.instance.getJoystick(2);
+        leftJoystick = RobotProvider.instance.getJoystick(0);
+        gamepad = RobotProvider.instance.getJoystick(1);
+        driverOI = new DriverOI(leftJoystick);
     }
 
     public void run(final Context context) {
@@ -30,8 +32,8 @@ public void run(final Context context) {
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             RobotProvider.instance.refreshDriverStationData();
 
-            // Add driver controls here - make sure to take/release ownership
-            // of mechanisms when appropriate.
+            // call each of the OI fragment's runOI methods.
+            driverOI.runOI(context);
         }
     }
 }
diff --git a/src/main/java/com/team766/robot/reva/DebugOI.java b/src/main/java/com/team766/robot/reva/DebugOI.java
index 0c8896a02..c461972d9 100644
--- a/src/main/java/com/team766/robot/reva/DebugOI.java
+++ b/src/main/java/com/team766/robot/reva/DebugOI.java
@@ -58,8 +58,7 @@ public DebugOI(
         this.intake = intake;
         this.shooter = shooter;
 
-        controlShoulder =
-                new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
+        controlShoulder = new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
         controlClimber = new Condition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
         controlShooter = new Condition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
         intakeIn = new Condition(() -> macropad.getButton(InputConstants.INTAKE_IN));

From bd9f4b75ecf425755ef05983e77e267dfedbe863 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 09:54:51 -0700
Subject: [PATCH 04/15] move Math changes to another branch

---
 src/main/java/com/team766/math/Math.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/com/team766/math/Math.java b/src/main/java/com/team766/math/Math.java
index 8a475412d..8270533d4 100644
--- a/src/main/java/com/team766/math/Math.java
+++ b/src/main/java/com/team766/math/Math.java
@@ -29,7 +29,6 @@ public static double normalizeAngleDegrees(double angle) {
     /**
      * Performs simple linear interpolation (as described in
      * https://en.wikipedia.org/wiki/Linear_interpolation) of data in an array of type T.
-     * NOTE: the data array must be sorted by x, from lowest to highest.
      *
      * The x values (eg measured data and target data point) should be available via a getter in T.
      * The y values (what this interpolates from measured data) should be available via a getter in T.
@@ -39,7 +38,7 @@ public static double normalizeAngleDegrees(double angle) {
      *   public record Data(double x, double y);
      *   ...
      *   Data[] data = new Data[] { new Data(0.0, 1.0), new Data(1.0, 32.0), ... };
-     *   double interpolatedY = Math.interpolate(data, 0.5, Data::x, Data::y);
+     *   Math.interpolate(data, 0.5, Data::x, Data::y);
      * </pre>
      *
      * @param <T> The class containing the x and y data.

From 56c761879d9a0318568ec4bd30eae26f55207884 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 21:31:03 -0700
Subject: [PATCH 05/15] addressing PR comments

---
 .../com/team766/robot/example/DriverOI.java   | 25 +++++++++++++------
 .../example/constants/InputConstants.java     | 11 ++++++++
 2 files changed, 28 insertions(+), 8 deletions(-)
 create mode 100644 src/main/java/com/team766/robot/example/constants/InputConstants.java

diff --git a/src/main/java/com/team766/robot/example/DriverOI.java b/src/main/java/com/team766/robot/example/DriverOI.java
index fd4468290..daa63a7cb 100644
--- a/src/main/java/com/team766/robot/example/DriverOI.java
+++ b/src/main/java/com/team766/robot/example/DriverOI.java
@@ -3,31 +3,40 @@
 import com.team766.framework.Context;
 import com.team766.framework.OIFragment;
 import com.team766.hal.JoystickReader;
+import com.team766.robot.example.constants.InputConstants;
 import com.team766.robot.example.procedures.*;
 
 public class DriverOI extends OIFragment {
-    private final JoystickReader leftJoystick;
+    private final JoystickReader joystick;
+    private double joystickX;
+    private double joystickY;
 
     // add mechanisms here
 
     // add any conditions (joystick inputs, etc)
-    Condition button0;
+    Condition button1;
     Condition moveJoystick;
 
     // add any mechanisms to the constructor arguments as well
-    public DriverOI(JoystickReader leftJoystick) {
+    public DriverOI(JoystickReader joystick) {
         super("DriverOI");
-        this.leftJoystick = leftJoystick;
+        this.joystick = joystick;
 
-        button0 = new Condition(() -> leftJoystick.getButton(0));
-        moveJoystick = new Condition(() -> leftJoystick.getAxis(0) > 0);
+        button1 = new Condition(() -> joystick.getButton(InputConstants.BUTTON_TRIGGER));
+        moveJoystick = new Condition(() -> Math.abs(joystickX) > 0 || Math.abs(joystickY) > 0);
+    }
+
+    @Override
+    protected void handlePre() {
+        joystickX = joystick.getAxis(InputConstants.AXIS_X);
+        joystickY = joystick.getAxis(InputConstants.AXIS_Y);
     }
 
     @Override
     protected void handleOI(Context context) {
-        if (button0.isNewlyTriggering()) {
+        if (button1.isNewlyTriggering()) {
             // handle button press
-        } else if (button0.isFinishedTriggering()) {
+        } else if (button1.isFinishedTriggering()) {
             // handle button release
         }
 
diff --git a/src/main/java/com/team766/robot/example/constants/InputConstants.java b/src/main/java/com/team766/robot/example/constants/InputConstants.java
new file mode 100644
index 000000000..d3527b8c0
--- /dev/null
+++ b/src/main/java/com/team766/robot/example/constants/InputConstants.java
@@ -0,0 +1,11 @@
+package com.team766.robot.example.constants;
+
+public class InputConstants {
+    // this class only contains constants - instances should never be instantiated
+    private InputConstants() {}
+
+    public static final int AXIS_X = 0;
+    public static final int AXIS_Y = 1;
+
+    public static final int BUTTON_TRIGGER = 1;
+}

From a8b0e939ce969a751f45557f9a5fa4a2691129a9 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 22:32:35 -0700
Subject: [PATCH 06/15] addressing comments

---
 src/main/java/com/team766/robot/example/DriverOI.java           | 2 --
 .../com/team766/robot/example/constants/InputConstants.java     | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/com/team766/robot/example/DriverOI.java b/src/main/java/com/team766/robot/example/DriverOI.java
index daa63a7cb..7bc5dfab6 100644
--- a/src/main/java/com/team766/robot/example/DriverOI.java
+++ b/src/main/java/com/team766/robot/example/DriverOI.java
@@ -11,8 +11,6 @@ public class DriverOI extends OIFragment {
     private double joystickX;
     private double joystickY;
 
-    // add mechanisms here
-
     // add any conditions (joystick inputs, etc)
     Condition button1;
     Condition moveJoystick;
diff --git a/src/main/java/com/team766/robot/example/constants/InputConstants.java b/src/main/java/com/team766/robot/example/constants/InputConstants.java
index d3527b8c0..ae21dc791 100644
--- a/src/main/java/com/team766/robot/example/constants/InputConstants.java
+++ b/src/main/java/com/team766/robot/example/constants/InputConstants.java
@@ -1,7 +1,7 @@
 package com.team766.robot.example.constants;
 
 public class InputConstants {
-    // this class only contains constants - instances should never be instantiated
+    // this class only contains constants - should never be instantiated
     private InputConstants() {}
 
     public static final int AXIS_X = 0;

From a28ab668398089e451c8aa8dbffa61e2e5edcd6d Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Sun, 10 Mar 2024 22:33:31 -0700
Subject: [PATCH 07/15] making Condition members in example private

---
 src/main/java/com/team766/robot/example/DriverOI.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/com/team766/robot/example/DriverOI.java b/src/main/java/com/team766/robot/example/DriverOI.java
index 7bc5dfab6..d67355d62 100644
--- a/src/main/java/com/team766/robot/example/DriverOI.java
+++ b/src/main/java/com/team766/robot/example/DriverOI.java
@@ -12,8 +12,8 @@ public class DriverOI extends OIFragment {
     private double joystickY;
 
     // add any conditions (joystick inputs, etc)
-    Condition button1;
-    Condition moveJoystick;
+    private Condition button1;
+    private Condition moveJoystick;
 
     // add any mechanisms to the constructor arguments as well
     public DriverOI(JoystickReader joystick) {

From 6564a8460dfe02cf0c9967040fbbd5f6c54131e3 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Mon, 11 Mar 2024 19:27:38 -0700
Subject: [PATCH 08/15] remove pre/postOI.  have subclasses of OIFragment call
 evaluateConditions().

---
 .../com/team766/framework/OIFragment.java     | 29 ++++++++++---------
 .../com/team766/robot/common/DriverOI.java    |  2 ++
 .../com/team766/robot/example/DriverOI.java   |  7 ++---
 .../java/com/team766/robot/reva/BoxOpOI.java  |  2 ++
 .../java/com/team766/robot/reva/DebugOI.java  |  2 ++
 5 files changed, 25 insertions(+), 17 deletions(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index c9f042829..1a77ead94 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -1,6 +1,7 @@
 package com.team766.framework;
 
 import com.team766.logging.Category;
+import com.team766.logging.Severity;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
@@ -55,6 +56,7 @@ public boolean isFinishedTriggering() {
 
     private final String name;
     private final List<Condition> conditions = new LinkedList<Condition>();
+    private boolean conditionsEvaluated = false;
 
     /**
      * Creates a new OIFragment.
@@ -73,12 +75,6 @@ private void register(Condition condition) {
         conditions.add(condition);
     }
 
-    /**
-     * Called at the beginning of {@link #runOI(Context)}, before evaluating any of the registered conditions
-     * and before calling {@link #handleOI(Context)}.  Subclasses should override this if needed.
-     */
-    protected void handlePre() {}
-
     /**
      * OIFragments must override this method to implement their OI logic.  Typically called via the overall
      * OI's loop, once per iteration through the loop.  Can use any {@link Condition}s
@@ -91,9 +87,15 @@ protected void handlePre() {}
     protected abstract void handleOI(Context context);
 
     /**
-     * Called after {@link #handleOI}, at the end of {@link #runOI}.  Subclasses should override this if needed.
+     * Subclasses should call this once per call to {@link #handleOI}.  Evaluates each of the
+     * conditions for this fragment.
      */
-    protected void handlePost() {}
+    protected void evaluateConditions() {
+        for (Condition condition : conditions) {
+            condition.evaluate();
+        }
+        conditionsEvaluated = true;
+    }
 
     /**
      * Called by a Robot's OI class, once per its loop.
@@ -101,11 +103,12 @@ protected void handlePost() {}
      * @param context The {@link Context} running the OI.
      */
     public final void runOI(Context context) {
-        handlePre();
-        for (Condition condition : conditions) {
-            condition.evaluate();
-        }
+        // reset for the next call
+        conditionsEvaluated = false;
+
         handleOI(context);
-        handlePost();
+        if (!conditionsEvaluated) {
+            log(Severity.WARNING, "Fragment did not call evaluateCondition()!");
+        }
     }
 }
diff --git a/src/main/java/com/team766/robot/common/DriverOI.java b/src/main/java/com/team766/robot/common/DriverOI.java
index fe4540946..b71c99015 100644
--- a/src/main/java/com/team766/robot/common/DriverOI.java
+++ b/src/main/java/com/team766/robot/common/DriverOI.java
@@ -52,6 +52,8 @@ public void handleOI(Context context) {
                 -createJoystickDeadzone(rightJoystick.getAxis(InputConstants.AXIS_LEFT_RIGHT))
                         * ControlConstants.MAX_ROTATIONAL_VELOCITY; // For steer
 
+        evaluateConditions();
+
         if (leftJoystick.getButtonPressed(InputConstants.BUTTON_RESET_GYRO)) {
             drive.resetGyro();
         }
diff --git a/src/main/java/com/team766/robot/example/DriverOI.java b/src/main/java/com/team766/robot/example/DriverOI.java
index d67355d62..50cf4973a 100644
--- a/src/main/java/com/team766/robot/example/DriverOI.java
+++ b/src/main/java/com/team766/robot/example/DriverOI.java
@@ -25,13 +25,12 @@ public DriverOI(JoystickReader joystick) {
     }
 
     @Override
-    protected void handlePre() {
+    protected void handleOI(Context context) {
         joystickX = joystick.getAxis(InputConstants.AXIS_X);
         joystickY = joystick.getAxis(InputConstants.AXIS_Y);
-    }
 
-    @Override
-    protected void handleOI(Context context) {
+        evaluateConditions();
+
         if (button1.isNewlyTriggering()) {
             // handle button press
         } else if (button1.isFinishedTriggering()) {
diff --git a/src/main/java/com/team766/robot/reva/BoxOpOI.java b/src/main/java/com/team766/robot/reva/BoxOpOI.java
index 56517d60d..3a347192b 100644
--- a/src/main/java/com/team766/robot/reva/BoxOpOI.java
+++ b/src/main/java/com/team766/robot/reva/BoxOpOI.java
@@ -43,6 +43,8 @@ public BoxOpOI(
 
     @Override
     protected void handleOI(Context context) {
+        evaluateConditions();
+
         // shoulder positions
         if (gamepad.getButtonPressed(InputConstants.XBOX_A)) {
             context.takeOwnership(shoulder);
diff --git a/src/main/java/com/team766/robot/reva/DebugOI.java b/src/main/java/com/team766/robot/reva/DebugOI.java
index c461972d9..4f577ef14 100644
--- a/src/main/java/com/team766/robot/reva/DebugOI.java
+++ b/src/main/java/com/team766/robot/reva/DebugOI.java
@@ -67,6 +67,8 @@ public DebugOI(
 
     @Override
     protected void handleOI(Context context) {
+        evaluateConditions();
+
         // fine-grained control of the shoulder
         // used for testing and tuning
         // press down the shoulder control button and nudge the angle up and down

From e38c8fe7a45568e8322a5fbf7d3748685457a34c Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Mon, 11 Mar 2024 19:38:26 -0700
Subject: [PATCH 09/15] throw exception when evaluateConditions() called zero
 or more than one time. rename runOI() to run().

---
 src/main/java/com/team766/framework/OIFragment.java | 10 ++++++++--
 src/main/java/com/team766/robot/example/OI.java     |  2 +-
 src/main/java/com/team766/robot/reva/OI.java        |  6 +++---
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index 1a77ead94..06920159a 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -1,6 +1,7 @@
 package com.team766.framework;
 
 import com.team766.logging.Category;
+import com.team766.logging.LoggerExceptionUtils;
 import com.team766.logging.Severity;
 import java.util.LinkedList;
 import java.util.List;
@@ -11,7 +12,7 @@
  * {@link #handleOI} method.
  *
  * The overall OI for a robot will contain a set of fragments, typically one per set of controls (eg, driver, boxop, debug),
- * and it will call {@link #runOI(Context)} once per its own loop.  During each call to {@link #runOI}, the fragment
+ * and it will call {@link #run(Context)} once per its own loop.  During each call to {@link #runOI}, the fragment
  * will evaluate any {@link Condition}s that were created for this fragment.  This simplifies OI logic that checks if a
  * specific condition is currently triggering (eg pressing or holding down a joystick button) or if a condition that had been triggering
  * in a previous iteration of the OI loop is no longer triggering in this iteration.
@@ -91,6 +92,10 @@ private void register(Condition condition) {
      * conditions for this fragment.
      */
     protected void evaluateConditions() {
+        if (conditionsEvaluated) {
+            log(Severity.WARNING, "evaluateConditions() called multiple times in this loop!");
+            throw new IllegalStateException("evaluateConditions() called multiple times in this loop!");
+        }
         for (Condition condition : conditions) {
             condition.evaluate();
         }
@@ -102,13 +107,14 @@ protected void evaluateConditions() {
      * Calls {@link #handlePre()}, evaluates all conditions once per call, and calls {@link #handlePost()}.
      * @param context The {@link Context} running the OI.
      */
-    public final void runOI(Context context) {
+    public final void run(Context context) {
         // reset for the next call
         conditionsEvaluated = false;
 
         handleOI(context);
         if (!conditionsEvaluated) {
             log(Severity.WARNING, "Fragment did not call evaluateCondition()!");
+            throw new IllegalStateException("Fragment did not call evaluateCondition!");
         }
     }
 }
diff --git a/src/main/java/com/team766/robot/example/OI.java b/src/main/java/com/team766/robot/example/OI.java
index ca16c6f25..97c0fd364 100644
--- a/src/main/java/com/team766/robot/example/OI.java
+++ b/src/main/java/com/team766/robot/example/OI.java
@@ -33,7 +33,7 @@ public void run(final Context context) {
             RobotProvider.instance.refreshDriverStationData();
 
             // call each of the OI fragment's runOI methods.
-            driverOI.runOI(context);
+            driverOI.run(context);
         }
     }
 }
diff --git a/src/main/java/com/team766/robot/reva/OI.java b/src/main/java/com/team766/robot/reva/OI.java
index e2e1d9e38..137c50bee 100644
--- a/src/main/java/com/team766/robot/reva/OI.java
+++ b/src/main/java/com/team766/robot/reva/OI.java
@@ -48,11 +48,11 @@ public void run(Context context) {
             // of mechanisms when appropriate.
 
             // Driver OI: take input from left, right joysticks.  control drive.
-            driverOI.runOI(context);
+            driverOI.run(context);
             // Debug OI: allow for finer-grain testing of each mechanism.
-            debugOI.runOI(context);
+            debugOI.run(context);
 
-            boxOpOI.runOI(context);
+            boxOpOI.run(context);
         }
     }
 }

From 6baa171ebb4b185780ef74bf7af2b162b14ba1be Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Mon, 11 Mar 2024 19:38:52 -0700
Subject: [PATCH 10/15] linting

---
 src/main/java/com/team766/framework/OIFragment.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index 06920159a..bddaa3c99 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -1,7 +1,6 @@
 package com.team766.framework;
 
 import com.team766.logging.Category;
-import com.team766.logging.LoggerExceptionUtils;
 import com.team766.logging.Severity;
 import java.util.LinkedList;
 import java.util.List;
@@ -94,7 +93,8 @@ private void register(Condition condition) {
     protected void evaluateConditions() {
         if (conditionsEvaluated) {
             log(Severity.WARNING, "evaluateConditions() called multiple times in this loop!");
-            throw new IllegalStateException("evaluateConditions() called multiple times in this loop!");
+            throw new IllegalStateException(
+                    "evaluateConditions() called multiple times in this loop!");
         }
         for (Condition condition : conditions) {
             condition.evaluate();

From a4c904bfc26a32357b5d4a9cea85311e55e7530e Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Tue, 12 Mar 2024 08:24:18 -0700
Subject: [PATCH 11/15] only complain if conditions warrant it

---
 src/main/java/com/team766/framework/OIFragment.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index bddaa3c99..4899c22d6 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -112,7 +112,7 @@ public final void run(Context context) {
         conditionsEvaluated = false;
 
         handleOI(context);
-        if (!conditionsEvaluated) {
+        if (conditions.size() > 0 && !conditionsEvaluated) {
             log(Severity.WARNING, "Fragment did not call evaluateCondition()!");
             throw new IllegalStateException("Fragment did not call evaluateCondition!");
         }

From 1bb3c546620f9c9765543c85fb9f6e7ab906c34f Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Fri, 15 Mar 2024 00:21:14 -0700
Subject: [PATCH 12/15] Merge branch 'main' of https://github.com/Team766/2024
 into oi-conditions-renaming


From ea53d0f433c372207fc0181a90ebd5e4222dc460 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Fri, 15 Mar 2024 00:27:19 -0700
Subject: [PATCH 13/15] updating javadoc

---
 src/main/java/com/team766/framework/OIFragment.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index de7b7cebe..2419194fe 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -88,6 +88,9 @@ private void register(Condition condition) {
      * they have set up to simplify checking if the {@link Condition} is {@link Condition#isTriggering()},
      * or, if it had been triggering in a previous iteration of the loop, if it is now
      * {@link Condition#isFinishedTriggering()}.
+     * 
+     * When implementing handleOI, you must call {@link #evaluateConditions()} in order to use any 
+     * Conditions; omitting this call will result in calls to {@link #run} throwing an IllegalStateException.
      *
      * @param context The {@link Context} running the OI.
      */
@@ -111,7 +114,6 @@ protected void evaluateConditions() {
 
     /**
      * Called by a Robot's OI class, once per its loop.
-     * Calls {@link #handlePre()}, evaluates all conditions once per call, and calls {@link #handlePost()}.
      * @param context The {@link Context} running the OI.
      */
     public final void run(Context context) {

From 9f3b6bf6203f1df2e9220343771ee19b0c248757 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Fri, 15 Mar 2024 00:28:43 -0700
Subject: [PATCH 14/15] setting the logger category in the new ctor

---
 src/main/java/com/team766/framework/OIFragment.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index 2419194fe..85861fffa 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -71,6 +71,7 @@ public OIFragment(String name) {
      * Creates a new OIFragment, using the name of the sub-class.
      */
     public OIFragment() {
+        loggerCategory = Category.OPERATOR_INTERFACE;
         this.name = this.getClass().getSimpleName();
     }
 

From c7a7e2a59fd6291dcd1f742e6de00277553ef778 Mon Sep 17 00:00:00 2001
From: Debajit Ghosh <dg@dejabotz.com>
Date: Fri, 15 Mar 2024 00:32:49 -0700
Subject: [PATCH 15/15] linting

---
 src/main/java/com/team766/framework/OIFragment.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/com/team766/framework/OIFragment.java b/src/main/java/com/team766/framework/OIFragment.java
index 85861fffa..d5c61bdf8 100644
--- a/src/main/java/com/team766/framework/OIFragment.java
+++ b/src/main/java/com/team766/framework/OIFragment.java
@@ -89,8 +89,8 @@ private void register(Condition condition) {
      * they have set up to simplify checking if the {@link Condition} is {@link Condition#isTriggering()},
      * or, if it had been triggering in a previous iteration of the loop, if it is now
      * {@link Condition#isFinishedTriggering()}.
-     * 
-     * When implementing handleOI, you must call {@link #evaluateConditions()} in order to use any 
+     *
+     * When implementing handleOI, you must call {@link #evaluateConditions()} in order to use any
      * Conditions; omitting this call will result in calls to {@link #run} throwing an IllegalStateException.
      *
      * @param context The {@link Context} running the OI.