fix linting errors

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "checkstyle"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -83,7 +84,7 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
-    // annotationProcessor project(":checker")
+    annotationProcessor project(":checker")
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
@@ -117,8 +118,8 @@ tasks.withType(JavaCompile) {
     // only run in GH actions
     if (System.getenv("GITHUB_ACTOR") != null && !System.getenv("GITHUB_ACTOR").equals("")) {
         options.compilerArgs << "-Xplugin:rchk"
-        outputs.upToDateWhen { false } // Force recompile, even if source file hasn't changed
     }
+        outputs.upToDateWhen { false } // Force recompile, even if source file hasn't changed
 }
 
 javadoc {
@@ -130,3 +131,7 @@ javadoc {
             "</script>"
     }
 }
+
+checkstyle {
+    config = project.resources.text.fromFile("checks.xml")
+}

checker/src/main/java/org/frc5572/robotools/RobotProcessor.java

@@ -69,7 +69,7 @@ public boolean process(Set<? extends TypeElement> arg0, RoundEnvironment roundEn
         if (fatal) {
             throw new RuntimeException("Checks failed!");
         }
-        return true;
+        return false;
     }
 
 }

src/main/java/frc/lib/util/swerve/SwerveModuleIO.java

@@ -4,8 +4,10 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 
+/** IO Class for SwerveModule */
 public interface SwerveModuleIO {
 
+    /** Inputs Class for SwerveModule */
     @AutoLog
     public static class SwerveModuleInputs {
         public double angleEncoderValue;

src/main/java/frc/lib/util/swerve/SwerveModuleReal.java

@@ -9,6 +9,9 @@
 import frc.robot.Constants;
 import frc.robot.Robot;
 
+/**
+ * Implementation for the real robot
+ */
 public class SwerveModuleReal implements SwerveModuleIO {
 
     private TalonFX angleMotor; // Output
@@ -17,6 +20,9 @@ public class SwerveModuleReal implements SwerveModuleIO {
 
     private SwerveModuleConstants constants;
 
+    /**
+     * Initializer for real swerve module. Configures with defaults.
+     */
     public SwerveModuleReal(SwerveModuleConstants constants) {
         this.constants = constants;
 

src/main/java/frc/robot/Constants.java

@@ -22,6 +22,9 @@ public final class Constants {
     public static final int DRIVER_ID = 0;
     public static final int OPERATOR_ID = 1;
 
+    /** number of seconds between each loop iteration. */
+    public static final double kDefaultPeriod = 0.02;
+
     /**
      * Motor CAN id's. PID constants for Swerve Auto Holonomic Drive Controller.
      */

src/main/java/frc/robot/Robot.java

@@ -37,6 +37,8 @@ public class Robot extends LoggedRobot {
     public static int column = 0;
     public static UsbCamera camera = CameraServer.startAutomaticCapture("Magazine Camera", 0);
 
+    PowerDistribution powerDistribution = null;
+
     // private Ultrasonic ultrasonic = new Ultrasonic();
     /**
      * This function is run when the robot is first started up and should be used for any
@@ -48,7 +50,7 @@ public void robotInit() {
         if (isReal()) {
             logger.addDataReceiver(new WPILOGWriter("/media/sda1"));
             logger.addDataReceiver(new NT4Publisher());
-            new PowerDistribution(1, ModuleType.kRev);
+            powerDistribution = new PowerDistribution(1, ModuleType.kRev);
         } else {
             String path = LogFileUtil.findReplayLog();
             logger.setReplaySource(new WPILOGReader(path));
@@ -134,4 +136,12 @@ public void testInit() {
     /** This function is called periodically during test mode. */
     @Override
     public void testPeriodic() {}
+
+    @Override
+    public void close() {
+        super.close();
+        if (powerDistribution != null) {
+            powerDistribution.close();
+        }
+    }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -50,7 +50,9 @@
 import frc.robot.subsystems.swerve2.Swerve;
 import frc.robot.subsystems.swerve2.SwerveIO;
 import frc.robot.subsystems.swerve2.SwerveReal;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntakeIO;
+import frc.robot.subsystems.wrist_intake.WristIntakeIOFalcon500;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -127,7 +129,7 @@ public class RobotContainer {
     public final Swerve s_Swerve;
     // private final DropIntake s_dIntake = new DropIntake();
     private final Arm s_Arm;
-    private final WristIntake s_wristIntake = new WristIntake();
+    private final WristIntake s_wristIntake;
 
     private ArmIO armIO;
 
@@ -138,10 +140,14 @@ public RobotContainer(boolean isReal) {
         if (isReal) {
             armIO = new ArmIOSparkMax(ph);
             s_Swerve = new Swerve(new SwerveReal());
+            s_wristIntake = new WristIntake(new WristIntakeIOFalcon500());
         } else {
             armIO = new ArmIO() {};
             s_Swerve = new Swerve(new SwerveIO() {
 
+            });
+            s_wristIntake = new WristIntake(new WristIntakeIO() {
+
             });
         }
         s_Arm = new Arm(armIO);

src/main/java/frc/robot/autos/CrossAndDock.java

@@ -16,7 +16,7 @@
 import frc.robot.commands.drive.TurnToAngle;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Leaves community, and docks.

src/main/java/frc/robot/autos/DoubleScore.java

@@ -20,7 +20,7 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score a second game piece

src/main/java/frc/robot/autos/DoubleScore6.java

@@ -14,15 +14,12 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score a second game piece
  */
 public class DoubleScore6 extends TrajectoryBase {
-
-    private double maxVel = 6;
-    private double maxAccel = 4;
     // private double armAngle = -60.0;
     // private double wristAngle = 3.0;
     Pose2d aprilTag7 = FieldConstants.aprilTags.get(7).toPose2d();

src/main/java/frc/robot/autos/MiddleScoreEngage.java

@@ -17,7 +17,7 @@
 import frc.robot.commands.wrist.WristIntakeRelease;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score one game piece then engage from community side.

src/main/java/frc/robot/autos/Score1.java

@@ -10,7 +10,7 @@
 import frc.robot.commands.wrist.WristIntakeRelease;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score1Dock Auto.

src/main/java/frc/robot/autos/Score1Dock.java

@@ -17,7 +17,7 @@
 import frc.robot.commands.wrist.WristIntakeRelease;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score1Dock Auto.

src/main/java/frc/robot/autos/SecondGamePiece.java

@@ -15,7 +15,7 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 
 /**

src/main/java/frc/robot/autos/SecondGamePiece6.java

@@ -16,7 +16,7 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 
 /**

src/main/java/frc/robot/autos/SecondGamePieceScore.java

@@ -10,7 +10,7 @@
 import frc.robot.commands.wrist.WristIntakeRelease;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Acquire a second game piece after scoring

src/main/java/frc/robot/autos/TripleScore.java

@@ -11,7 +11,7 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score three game pieces

src/main/java/frc/robot/autos/TripleScore6.java

@@ -12,7 +12,7 @@
 import frc.robot.commands.wrist.AutoWrist;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Score three game pieces

src/main/java/frc/robot/commands/arm/DockArm.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.ArmPosition;
 import frc.robot.subsystems.arm.Arm;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Command to dock the arm in the robot

src/main/java/frc/robot/commands/arm/ScoreArm.java

@@ -3,7 +3,7 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.Scoring;
 import frc.robot.subsystems.arm.Arm;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Command to move arm into scoring position

src/main/java/frc/robot/commands/drive/MoveToEngage.java

@@ -1,11 +1,9 @@
 package frc.robot.commands.drive;
 
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import frc.lib.util.FieldConstants;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 
 /**
@@ -25,14 +23,4 @@ public MoveToEngage(Swerve swerve, Arm arm, WristIntake wristIntake) {
         ClimbPlatform climbPlatform = new ClimbPlatform(swerve);
         addCommands(climbPlatform);
     }
-
-    /**
-     * Check if the robot's position is inside the community or center of the field
-     *
-     * @return True if the robot is in the middle of the field. False if in the community
-     */
-    private boolean centerField() {
-        Pose2d pose = FieldConstants.allianceFlip(swerve.getPose());
-        return pose.getX() > FieldConstants.Community.cableBumpInnerX;
-    }
 }

src/main/java/frc/robot/commands/drive/MoveToScore.java

@@ -6,7 +6,7 @@
 import frc.robot.commands.arm.ScoreArm;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.swerve2.Swerve;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 
 /**

src/main/java/frc/robot/commands/test/TestArm.java

@@ -2,7 +2,6 @@
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.lib.util.ArmPosition;
 import frc.lib.util.Scoring;
 import frc.lib.util.Scoring.GamePiece;
 import frc.robot.Robot;
@@ -25,7 +24,6 @@ public void initialize() {
         SmartDashboard.putNumber("Targeted Column", Robot.column);
         GamePiece gamePiece = Scoring.getGamePiece();
         SmartDashboard.putString("Targeted Game Piece", gamePiece.toString());
-        ArmPosition position = Scoring.getScoreParameters();
         // arm.enablePID();
         // arm.setArmGoal(position.getArmAngle());
         arm.setArmGoal(60);

src/main/java/frc/robot/commands/wrist/AutoWrist.java

@@ -2,7 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Consistent wrist operation for Autonomous.

src/main/java/frc/robot/commands/wrist/VariableIntake.java

@@ -2,7 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Variable controlled intake speed.

src/main/java/frc/robot/commands/wrist/WristIntakeIn.java

@@ -2,7 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Command to raise the Drop Down Intake to the top position

src/main/java/frc/robot/commands/wrist/WristIntakeRelease.java

@@ -3,7 +3,7 @@
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.lib.util.Scoring;
 import frc.robot.Constants;
-import frc.robot.subsystems.wristIntake.WristIntake;
+import frc.robot.subsystems.wrist_intake.WristIntake;
 
 /**
  * Command to raise the Drop Down Intake to the top position

src/main/java/frc/robot/subsystems/arm/Arm.java

@@ -38,6 +38,7 @@ public class Arm extends SubsystemBase {
      */
     public Arm(ArmIO armIO) {
         io = armIO;
+        io.updateInputs(armInputs);
 
 
         this.wristPIDController.setIntegratorRange(Constants.Wrist.PID.MIN_INTEGRAL,