Merge first (and second) competition code into master

build.gradle

@@ -54,6 +54,8 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
+    implementation 'com.google.code.gson:gson:2.9.0'
+
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 

src/main/deploy/autos/auto-test.json

@@ -0,0 +1,28 @@
+{
+    "auto": [
+        {
+            "type": "drive",
+            "unit": "SECONDS",
+            "amount": 0.1,
+            "args": [
+                -0.05, 
+                -0.05
+            ]
+        },
+        {
+            "type": "wait",
+            "args": [
+                1
+            ]
+        },
+        {
+            "type": "turnDeg",
+            "unit": "DEGREES",
+            "amount": -90,
+            "args": [
+                0.1,
+                -0.1
+            ]
+        }
+    ]
+}

src/main/deploy/autos/autonomous.json

@@ -0,0 +1,13 @@
+{
+    "auto": [
+        {
+            "type": "drive",
+            "unit": "FEET",
+            "amount": 3.00,
+            "args": [
+                -0.1,
+                -0.1
+            ]
+        }
+    ]
+}

src/main/deploy/autos/current-test.json

@@ -0,0 +1,28 @@
+{
+    "auto": [
+        {
+            "type": "drive",
+            "unit": "CURRENT",
+            "amount": 20,
+            "args": [
+                0.05,
+                0.05
+            ]
+        },
+        {
+            "type": "wait",
+            "args": [
+                1
+            ]
+        },
+        {
+            "type": "drive",
+            "unit": "FEET",
+            "amount": 5,
+            "args": [
+                -0.05,
+                -0.05
+            ]
+        }
+    ]
+}

src/main/deploy/autos/distance-test.json

@@ -0,0 +1,76 @@
+{
+    "auto": [
+        {
+            "type": "drive",
+            "unit": "INCHES",
+            "amount": 50,
+            "args": [
+                -0.05,
+                -0.05
+            ]
+        },
+        {
+            "type": "turnDeg",
+            "unit": "DEGREES",
+            "amount": 90,
+            "args": [
+                -0.05,
+                0.05
+            ]
+        },
+        {
+            "type": "drive",
+            "unit": "INCHES",
+            "amount": 50,
+            "args": [
+                -0.05,
+                -0.05
+            ]
+        },
+        {
+            "type": "turnDeg",
+            "unit": "DEGREES",
+            "amount": 90,
+            "args": [
+                -0.05,
+                0.05
+            ]
+        },
+        {
+            "type": "drive",
+            "unit": "INCHES",
+            "amount": 50,
+            "args": [
+                -0.05,
+                -0.05
+            ]
+        },
+        {
+            "type": "turnDeg",
+            "unit": "DEGREES",
+            "amount": 90,
+            "args": [
+                -0.05,
+                0.05
+            ]
+        },
+        {
+            "type": "drive",
+            "unit": "INCHES",
+            "amount": 50,
+            "args": [
+                -0.05,
+                -0.05
+            ]
+        },
+        {
+            "type": "turnDeg",
+            "unit": "DEGREES",
+            "amount": 90,
+            "args": [
+                -0.05,
+                0.05
+            ]
+        }
+    ]
+}

src/main/java/frc/robot/Autonomous.java

@@ -0,0 +1,5 @@
+package frc.robot;
+
+public abstract class Autonomous {
+    public abstract void run();
+}

src/main/java/frc/robot/BoostInput.java

@@ -1,21 +1,21 @@
 
 package frc.robot;
 
-public class BoostInput implements InputScaler
-{
-  private final double powerCap;
-  private boolean enabled;
+public class BoostInput implements InputScaler {
+    private final double powerCap;
+    private double boostScale;
 
-  public BoostInput(double powerCap) {
-    this.powerCap = powerCap;
-    this.enabled = false;
-  }
+    public BoostInput(double powerCap) {
+        this.powerCap = powerCap;
+        this.boostScale = 0;
+    }
 
-  public double scale(double input) {
-    return enabled ? input : input * powerCap;
-  }
+    public double scale(double input) {
+        double scale = (1 - powerCap) * boostScale;
+        return input * (powerCap + scale);
+    }
 
-  public void setEnabled(boolean enabled) {
-    this.enabled = enabled;
-  }
+    public void setScale(double boostScale) {
+        this.boostScale = boostScale;
+    }
 }