Bump actions/checkout from 5 to 6

.github/workflows/build.yml

@@ -13,7 +13,7 @@ jobs:
 
     steps:
     - name: Checkout code
-      uses: actions/checkout@v5
+      uses: actions/checkout@v6
 
     - name: Set up JDK 17
       uses: actions/setup-java@v5

.github/workflows/ktlint.yml

@@ -13,7 +13,7 @@ jobs:
       contents: write
 
     steps:
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         repository: ${{ github.event.pull_request.head.repo.full_name || github.repository }}
         ref: ${{ github.event.pull_request.head.ref || github.ref }}

TeamCode/src/main/kotlin/pioneer/Constants.kt

@@ -132,7 +132,7 @@ object Camera {
     private const val PITCH_DEG = 0.0
     private const val ROLL_DEG = 0.0
 
-    //Lens Intrinsics
+    // Lens Intrinsics
     const val fx = 955.23
     const val fy = 962.92
     const val cx = 330.05
@@ -146,4 +146,3 @@ object Camera {
     val ORIENTATION_RAD: YawPitchRollAngles
         get() = YawPitchRollAngles(AngleUnit.RADIANS, YAW_DEG * DEG_TO_RAD, PITCH_DEG * DEG_TO_RAD, ROLL_DEG * DEG_TO_RAD, 0)
 }
-

TeamCode/src/main/kotlin/pioneer/hardware/Camera.kt

@@ -13,31 +13,30 @@ import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase
 import org.firstinspires.ftc.vision.apriltag.AprilTagLibrary
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor
 import pioneer.constants.HardwareNames
-import pioneer.constants.Camera as CameraConstants
 import kotlin.jvm.java
+import pioneer.constants.Camera as CameraConstants
 
 class Camera(
     private val hardwareMap: HardwareMap,
     private val cameraName: String = HardwareNames.WEBCAM,
     val processors: Array<VisionProcessor> = emptyArray(),
 ) : HardwareComponent {
-
     override val name = "Camera"
 
     private lateinit var portal: VisionPortal
 
     override fun init() {
-       portal =
-        VisionPortal
-            .Builder()
-            .setCamera(hardwareMap.get(WebcamName::class.java, cameraName))
-            .setCameraResolution(Size(640, 480))
-            .enableLiveView(true)
-            .apply {
-                if (processors.isNotEmpty()) {
-                    addProcessors(*processors)
-                }
-            }.build()
+        portal =
+            VisionPortal
+                .Builder()
+                .setCamera(hardwareMap.get(WebcamName::class.java, cameraName))
+                .setCameraResolution(Size(640, 480))
+                .enableLiveView(true)
+                .apply {
+                    if (processors.isNotEmpty()) {
+                        addProcessors(*processors)
+                    }
+                }.build()
     }
 
     // Helper function to get a specific processor by type

TeamCode/src/main/kotlin/pioneer/helpers/Indexer.kt

@@ -5,43 +5,54 @@ interface Indexer {
     var index: Int
 
     fun next()
+
     fun previous()
+
     fun peek(): Any?
+
     fun isEmpty(): Boolean
+
     fun size(): Int
+
     fun pop(): Any?
+
     fun push(item: Any): Boolean
+
     fun toList(): List<Any>
 }
 
 /**
  * SpinDexer - A circular indexer implementation that wraps around when advancing or retreating
  * @param maxSize Optional maximum size limit for the bin. If null, no limit is enforced.
  */
-class SpinDexer(private val maxSize: Int? = null, private val initialItems: List<Any> = emptyList()) : Indexer {
+class SpinDexer(
+    private val maxSize: Int? = null,
+    private val initialItems: List<Any> = emptyList(),
+) : Indexer {
     override var bin: List<Any> = initialItems
     override var index: Int = 0
 
     /**
      * Calculate the next index in a circular manner
      */
-    private fun nextIndex(): Int {
-        return if (bin.isEmpty()) 0 else (index + 1) % bin.size
-    }
+    private fun nextIndex(): Int = if (bin.isEmpty()) 0 else (index + 1) % bin.size
 
     /**
      * Calculate the previous index in a circular manner
      */
-    private fun previousIndex(): Int {
-        return if (bin.isEmpty()) 0 else if (index - 1 < 0) bin.size - 1 else index - 1
-    }
+    private fun previousIndex(): Int =
+        if (bin.isEmpty()) {
+            0
+        } else if (index - 1 < 0) {
+            bin.size - 1
+        } else {
+            index - 1
+        }
 
     /**
      * Calculate a circular index offset from the current position
      */
-    private fun circularIndex(offset: Int): Int {
-        return if (bin.isEmpty()) 0 else (index + offset) % bin.size
-    }
+    private fun circularIndex(offset: Int): Int = if (bin.isEmpty()) 0 else (index + offset) % bin.size
 
     /**
      * Normalize the current index after bin modification
@@ -57,9 +68,7 @@ class SpinDexer(private val maxSize: Int? = null, private val initialItems: List
     /**
      * Check if there's capacity to add more items
      */
-    private fun hasCapacity(): Boolean {
-        return maxSize == null || bin.size < maxSize
-    }
+    private fun hasCapacity(): Boolean = maxSize == null || bin.size < maxSize
 
     /**
      * Move to the next position in a circular manner
@@ -82,30 +91,22 @@ class SpinDexer(private val maxSize: Int? = null, private val initialItems: List
     /**
      * Peek at the current item without removing it
      */
-    override fun peek(): Any? {
-        return bin.getOrNull(index)
-    }
+    override fun peek(): Any? = bin.getOrNull(index)
 
     /**
      * Check if the bin is empty
      */
-    override fun isEmpty(): Boolean {
-        return bin.isEmpty()
-    }
+    override fun isEmpty(): Boolean = bin.isEmpty()
 
     /**
      * Get the number of items in the bin
      */
-    override fun size(): Int {
-        return bin.size
-    }
+    override fun size(): Int = bin.size
 
     /**
      * Check if the bin is full (only applicable if maxSize is set)
      */
-    fun isFull(): Boolean {
-        return !hasCapacity()
-    }
+    fun isFull(): Boolean = !hasCapacity()
 
     /**
      * Remove and return the current item
@@ -124,21 +125,20 @@ class SpinDexer(private val maxSize: Int? = null, private val initialItems: List
      * @param item The item to add to the bin
      * @return true if the item was added successfully, false if the bin is full
      */
-    override fun push(item: Any): Boolean {
-        return if (hasCapacity()) {
+    override fun push(item: Any): Boolean =
+        if (hasCapacity()) {
             bin = bin + item
             true
         } else {
             false
         }
-    }
 
     /**
      * Get the items as a list in order starting from the current position
      */
     override fun toList(): List<Any> {
         if (bin.isEmpty()) return emptyList()
-        
+
         return List(bin.size) { i ->
             bin[circularIndex(i)]
         }
@@ -149,20 +149,21 @@ class SpinDexer(private val maxSize: Int? = null, private val initialItems: List
      */
     override fun toString(): String {
         if (bin.isEmpty()) return "SpinDexer[]"
-        
+
         val prevIdx = previousIndex()
         val nextIdx = nextIndex()
-
-        val items = bin.mapIndexed { idx, item ->
-            val marker = when (idx) {
-                index -> "(curr)"
-                nextIdx -> "(next)"
-                prevIdx -> "(prev)"
-                else -> ""
+
+        val items =
+            bin.mapIndexed { idx, item ->
+                val marker =
+                    when (idx) {
+                        index -> "(curr)"
+                        nextIdx -> "(next)"
+                        prevIdx -> "(prev)"
+                        else -> ""
+                    }
+                "$item$marker"
             }
-            "$item$marker"
-        }
         return "SpinDexer[${items.joinToString(", ")}]"
     }
-
 }

TeamCode/src/main/kotlin/pioneer/opmodes/BaseOpMode.kt

@@ -6,7 +6,6 @@ import pioneer.Bot
 import pioneer.hardware.MecanumBase
 import pioneer.helpers.Chrono
 import pioneer.helpers.FileLogger
-import pioneer.localization.Localizer
 import pioneer.localization.localizers.Pinpoint
 
 // Base OpMode class to be extended by all user-defined OpModes

TeamCode/src/main/kotlin/pioneer/opmodes/other/AprilTagsTest.kt

@@ -10,13 +10,15 @@ import kotlin.math.*
 
 @TeleOp(name = "April Tags Test")
 class AprilTagsTest : BaseOpMode() {
-    private val processor : AprilTagProcessor = Camera.createAprilTagProcessor()
+    private val processor: AprilTagProcessor = Camera.createAprilTagProcessor()
 
     override fun onInit() {
-        bot = Bot.builder()
-            .add(Pinpoint(hardwareMap))
-            .add(Camera(hardwareMap, processors = arrayOf(processor)))
-            .build()
+        bot =
+            Bot
+                .builder()
+                .add(Pinpoint(hardwareMap))
+                .add(Camera(hardwareMap, processors = arrayOf(processor)))
+                .build()
     }
 
     override fun onLoop() {
@@ -27,16 +29,31 @@ class AprilTagsTest : BaseOpMode() {
 
     private fun fieldPosition() {
         val detections = processor.detections
-        //TODO: Avg position if given multiple tags?
+        // TODO: Avg position if given multiple tags?
         for (detection in detections) {
-            val tagPosition = listOf(detection.metadata.fieldPosition[0], detection.metadata.fieldPosition[1], detection.metadata.fieldPosition[2])
-            val fieldPositionWithTag = listOf((tagPosition[0]+detection.ftcPose.x).toFloat(), (tagPosition[1]+detection.ftcPose.y).toFloat(), (tagPosition[1]+detection.ftcPose.z).toFloat())
+            val tagPosition =
+                listOf(detection.metadata.fieldPosition[0], detection.metadata.fieldPosition[1], detection.metadata.fieldPosition[2])
+            val fieldPositionWithTag =
+                listOf(
+                    (tagPosition[0] + detection.ftcPose.x).toFloat(),
+                    (tagPosition[1] + detection.ftcPose.y).toFloat(),
+                    (
+                        tagPosition[1] +
+                            detection.ftcPose.z
+                    ).toFloat(),
+                )
 
-            telemetry.addLine("--Field Position From Tag (x, y, z): (%.2f, %.2f, %.2f)".format(fieldPositionWithTag[0], fieldPositionWithTag[1], fieldPositionWithTag[2]))
+            telemetry.addLine(
+                "--Field Position From Tag (x, y, z): (%.2f, %.2f, %.2f)".format(
+                    fieldPositionWithTag[0],
+                    fieldPositionWithTag[1],
+                    fieldPositionWithTag[2],
+                ),
+            )
             telemetry.addLine("--Bot Position (x, y): (%.2f, %.2f)".format(bot.pinpoint?.pose?.x, bot.pinpoint?.pose?.y))
-
         }
     }
+
     @Deprecated("ts sucks just use the library")
     private fun calculateAprilTag() {
         val detections = processor.detections
@@ -88,5 +105,4 @@ class AprilTagsTest : BaseOpMode() {
             }
         }
     }
-
 }

TeamCode/src/main/kotlin/pioneer/opmodes/other/ObeliskTest.kt

@@ -2,9 +2,9 @@ package pioneer.opmodes.other
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import pioneer.Bot
-import pioneer.hardware.Camera
 import pioneer.decode.Obelisk
 import pioneer.general.AllianceColor
+import pioneer.hardware.Camera
 import pioneer.opmodes.BaseOpMode
 
 @TeleOp(name = "Obelisk Test")

TeamCode/src/main/kotlin/pioneer/vision/ColorBlob.kt

@@ -11,23 +11,21 @@ import org.firstinspires.ftc.vision.opencv.ColorRange
 import org.firstinspires.ftc.vision.opencv.ImageRegion
 
 class ColorBlob(
-    targetColor: ColorRange? = null,  // null = detects ALL blobs
+    targetColor: ColorRange? = null, // null = detects ALL blobs
     draw: Boolean = false,
 ) : Processor {
     override val processor: ColorBlobLocatorProcessor =
         ColorBlobLocatorProcessor
             .Builder()
-            .apply { targetColor?.let { setTargetColorRange(it) } }  // Only set if provided
+            .apply { targetColor?.let { setTargetColorRange(it) } } // Only set if provided
             .setContourMode(ContourMode.EXTERNAL_ONLY)
-
-            .setBlurSize(10)         // Smooth the transitions between different colors in image
-            .setDilateSize(15)       // Expand blobs to fill any divots on the edges
-            .setErodeSize(15)        // Shrink blobs back to original size
+            .setBlurSize(10) // Smooth the transitions between different colors in image
+            .setDilateSize(15) // Expand blobs to fill any divots on the edges
+            .setErodeSize(15) // Shrink blobs back to original size
             .setMorphOperationType(MorphOperationType.CLOSING)
-
             .setRoi(ImageRegion.asUnityCenterCoordinates(-0.9, 0.9, 0.9, -0.9)) // Eliminate detection near edges
             .setDrawContours(draw)
-            .setBoxFitColor(0)       // Disable the drawing of rectangles
+            .setBoxFitColor(0) // Disable the drawing of rectangles
             .setCircleFitColor(Color.rgb(255, 255, 0)) // Draw a circle
             .build()