fixed select command bug

 - added inline reversed function for motors
 - added overloads for functional commands
 - copied latest roadrunner Tank PIDVA follower

README.md

@@ -22,6 +22,6 @@ repositories {
   maven { url 'https://jitpack.io' }
 }
 dependencies {
-  implementation "com.github.amarcolini.joos:$module:0.1.2-alpha"
+  implementation "com.github.amarcolini.joos:$module:0.1.3-alpha"
 }
 ```

build.gradle

@@ -1,7 +1,7 @@
 buildscript {
     ext {
         kotlin_version = "1.5.31"
-        lib_version = "v0.1.2-alpha"
+        lib_version = "v0.1.3-alpha"
     }
 
     repositories {

command/src/main/kotlin/com/amarcolini/joos/command/FunctionalCommand.kt

@@ -14,11 +14,12 @@ class FunctionalCommand @JvmOverloads constructor(
     override var isInterruptable: Boolean = true,
     override var requirements: Set<Component> = emptySet()
 ) : Command() {
+    @JvmOverloads
     constructor(
-        init: () -> Unit = {},
-        execute: () -> Unit = {},
-        end: (Boolean) -> Unit = {},
-        isFinished: () -> Boolean = { false },
+        init: Runnable = Runnable {},
+        execute: Runnable = Runnable {},
+        end: Consumer<Boolean> = Consumer {},
+        isFinished: BooleanSupplier = BooleanSupplier { false },
         isInterruptable: Boolean = true,
         vararg requirements: Component
     ) : this(init, execute, end, isFinished, isInterruptable, requirements.toSet())

command/src/main/kotlin/com/amarcolini/joos/command/SelectCommand.kt

@@ -19,6 +19,7 @@ class SelectCommand @JvmOverloads constructor(
 
     override fun init() {
         selected = command.get()
+        selected.init()
     }
 
     override fun execute() {
@@ -32,5 +33,5 @@ class SelectCommand @JvmOverloads constructor(
     override val isInterruptable: Boolean
         get() = selected.isInterruptable
 
-    override fun isFinished(): Boolean = selected.isInterruptable
+    override fun isFinished(): Boolean = selected.isFinished()
 }

command/src/main/kotlin/com/amarcolini/joos/command/SequentialCommand.kt

@@ -10,7 +10,6 @@ class SequentialCommand @JvmOverloads constructor(
     private var index = -1
 
     override fun init() {
-        commands.forEach { it.scheduler = scheduler }
         index = 0
         commands[index].init()
     }

command/src/main/kotlin/com/amarcolini/joos/hardware/Motor.kt

@@ -1,7 +1,6 @@
 package com.amarcolini.joos.hardware
 
 import com.amarcolini.joos.command.Command
-import com.amarcolini.joos.command.CommandScheduler
 import com.amarcolini.joos.command.Component
 import com.amarcolini.joos.control.FeedforwardCoefficients
 import com.amarcolini.joos.control.PIDCoefficients
@@ -10,7 +9,9 @@ import com.amarcolini.joos.util.NanoClock
 import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.hardware.DcMotorSimple
 import com.qualcomm.robotcore.hardware.HardwareMap
-import kotlin.math.*
+import kotlin.math.PI
+import kotlin.math.abs
+import kotlin.math.sign
 
 
 /**
@@ -272,8 +273,14 @@ class Motor @JvmOverloads constructor(
             field = value
         }
 
+    /**
+     * Whether this motor is reversed.
+     */
     var reversed: Boolean = false
-        @JvmName("reversed")
+        /**
+         * Sets whether the direction of this motor is reversed.
+         */
+        @JvmName("setReversed")
         set(value) {
             motors.forEach {
                 it.direction =
@@ -282,7 +289,7 @@ class Motor @JvmOverloads constructor(
             }
             field = value
         }
-        @JvmName("reversed")
+        @JvmName("isReversed")
         get() = motors[0].direction == DcMotorSimple.Direction.REVERSE
 
     /**
@@ -314,6 +321,14 @@ class Motor @JvmOverloads constructor(
      */
     val maxTPS: Double = CPR * (maxRPM / 60)
 
+    /**
+     * Reverses the direction of this motor.
+     */
+    fun reversed(): Motor {
+        reversed = !reversed
+        return this
+    }
+
     /**
      * Sets the speed of the motor.
      *

gui/build.gradle

@@ -21,7 +21,7 @@ javafx {
 
 shadowJar {
     destinationDirectory.set(buildDir)
-    archiveBaseName.set("gui")
+    archiveBaseName.set("$rootProject.name-gui")
     archiveClassifier.set("all")
     archiveVersion.set(project.version)
 }

navigation/build.gradle

@@ -28,7 +28,7 @@ compileKotlin {
 
 shadowJar {
     destinationDirectory.set(buildDir)
-    archiveBaseName.set("navigation")
+    archiveBaseName.set("$rootProject.name-navigation")
     archiveClassifier.set("all")
     archiveVersion.set(project.version)
 }

navigation/src/main/kotlin/com/amarcolini/joos/followers/TankPIDVAFollower.kt

@@ -62,7 +62,7 @@ class TankPIDVAFollower @JvmOverloads constructor(
 
         // note: feedforward is processed at the wheel level
         val axialCorrection = axialController.update(0.0, currentRobotVel?.x)
-        val headingCorrection = sign(targetVel.vec() dot currentPose.vec()) *
+        val headingCorrection = sign(targetVel.vec() dot currentPose.headingVec()) *
                 crossTrackController.update(0.0, currentRobotVel?.y)
 
         val correctedVelocity = targetRobotVel + Pose2d(