feat: RoadRunner Extension 1.0.1 (#4)

* add: support for roadrunner

* setup gradle for roadrunner extension

* refactor: update unit test to use JUnit 5 assertions

* add: implement FollowTrajectoryCommand and FollowTurnCommand classes

* define RoadRunner version in gradle.properties and use it in roadrunn…

* refactor: rename FollowTrajectoryCommand and FollowTurnCommand classe…

* add: initialize Turn class with name based on angle

* add: NextFTC Pedro Extension (#1)

* refactor: remove unit and instrumented tests from pedro module

* chore: change group id to dev.nextftc.extensions

* feat: add PedroComponent

* chore: remove unused import in build.gradle.kts

* feat: add FollowPath

* feat: add PedroComponent.gyro

* feat: add PedroDriverControlled

* feat: add Turn and TurnTo

* fix: move files from src/main to src/main/kotlin

* feat: add descriptive name to Turn and TurnTo

- name of Turn is Turn(angle)
- name of TurnTo is TurnTo(angle)

* refactor: change PedroComponent to an object

* fix: make PedroComponent a class again

* fix(pedro): fix gradle

- make displayName and description correct
- use versions.pedro property for version

* refactor: rename Turn to TurnBy

* fix: rename Turn to TurnBy in the command name

---------

Co-authored-by: Zach Harel <zach@zharel.me>

* fix: correct naming in Turn class initialization

Signed-off-by: Zach Harel <zach@zharel.me>

* fix: use proper allowSync property name

Signed-off-by: Zach Harel <zach@zharel.me>

* add: include license information in build.gradle.kts

Signed-off-by: Zach Harel <zach@zharel.me>

* fix: update NextFTC version to 1.0.0

Signed-off-by: Zach Harel <zach@zharel.me>

* fix: replace setDrivePowersFF with setDrivePowers in FollowTrajectory and Turn classes

Signed-off-by: Zach Harel <zach@zharel.me>

add: define abstract setDrivePowers method in NextFTCMecanumDrive

Signed-off-by: Zach Harel <zach@zharel.me>

* fix: update roadrunner version to 1.0.1 in gradle.properties

Signed-off-by: Zach Harel <zach@zharel.me>

---------

Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Davis Luxenberg <74377508+BeepBot99@users.noreply.github.com>

Author: zachwaffle4

gradle.properties

@@ -6,5 +6,5 @@ dev.nextftc.publishing.automaticMavenCentralSync=true
 
 android.useAndroidX=true
 
-versions.roadrunner=1.0.0
+versions.roadrunner=1.0.1
 versions.pedro=1.0.0

gradle/libs.versions.toml

@@ -1,7 +1,7 @@
 [versions]
 kotlin = "2.0.0"
 android = "8.7.3"
-nextftc = "1.0.0-beta.2"
+nextftc = "1.0.0"
 kotest = "5.9.1"
 ftc = "10.3.0"
 pedro = "2.0.0"

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/FollowTrajectory.kt

@@ -42,6 +42,6 @@ class FollowTrajectory(private val mecanumDrive: NextFTCMecanumDrive, private va
     }
 
     override fun stop(interrupted: Boolean) {
-        mecanumDrive.setDrivePowersFF(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
+        mecanumDrive.setDrivePowers(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
     }
 }

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/NextFTCMecanumDrive.kt

@@ -19,6 +19,8 @@ abstract class NextFTCMecanumDrive {
     open fun setDrivePowersFF(powers: PoseVelocity2d) =
         setDrivePowersFF(PoseVelocity2dDual.constant(powers, 1))
 
+    abstract fun setDrivePowers(powers: PoseVelocity2d)
+
     abstract fun updatePoseEstimate(): PoseVelocity2d
 
     abstract fun commandBuilder(beginPose: Pose2d): TrajectoryCommandBuilder

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/Turn.kt

@@ -34,6 +34,6 @@ class Turn(private val mecanumDrive: NextFTCMecanumDrive, private val turn: Time
     }
 
     override fun stop(interrupted: Boolean) {
-        mecanumDrive.setDrivePowersFF(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
+        mecanumDrive.setDrivePowers(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
     }
 }