Minor features

 - RobotOpMode to simplify robot use
 - Robot has more useful fields and methods
 - GamepadEx now listens to analog sticks for changes
 - Removed debug code from GUI

README.md

@@ -22,6 +22,6 @@ repositories {
   maven { url 'https://jitpack.io' }
 }
 dependencies {
-  implementation "com.github.amarcolini.joos:$module:0.1.9-alpha"
+  implementation "com.github.amarcolini.joos:$module:0.2.0-alpha"
 }
 ```

build.gradle

@@ -1,7 +1,7 @@
 buildscript {
     ext {
         kotlin_version = "1.6.0"
-        lib_version = "v0.1.9-alpha"
+        lib_version = "v0.2.0-alpha"
     }
 
     repositories {

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

@@ -142,12 +142,17 @@ open class CommandScheduler {
     }
 
     /**
-     * Maps a condition to commands. If the condition returns true, the commands are scheduled. A command can be mapped to multiple conditions.
+     * Maps a condition to commands. If the condition returns true, the commands are scheduled.
+     * A command can be mapped to multiple conditions.
      */
     fun map(condition: BooleanSupplier, vararg commands: Command) {
         conditions[condition] = commands.toMutableSet()
     }
 
+    /**
+     * Maps a condition to commands. If the condition returns true, the commands are scheduled.
+     * A command can be mapped to multiple conditions.
+     */
     fun map(condition: BooleanSupplier, vararg commands: Runnable) {
         map(condition, *commands.map { Command.of(it) }.toTypedArray())
     }
@@ -156,7 +161,7 @@ open class CommandScheduler {
      * Removes commands from the list of mappings.
      */
     fun unmap(vararg commands: Command) {
-        conditions.values.forEach { it.removeAll(commands) }
+        conditions.values.forEach { it.removeAll(commands.toSet()) }
     }
 
     /**
@@ -174,9 +179,10 @@ open class CommandScheduler {
     }
 
     /**
-     * Resets this [CommandScheduler]. All commands, components, and conditions are cleared.
+     * Resets this [CommandScheduler]. All commands are cancelled, and all commands, components, and conditions are cleared.
      */
     fun reset() {
+        cancelAll()
         scheduledCommands.clear()
         components.clear()
         requirements.clear()

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

@@ -3,19 +3,37 @@ package com.amarcolini.joos.command
 import com.acmerobotics.dashboard.FtcDashboard
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry
 import com.amarcolini.joos.gamepad.MultipleGamepad
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import com.qualcomm.robotcore.hardware.HardwareMap
+import kotlin.reflect.full.hasAnnotation
 
 /**
  * A class that makes any command-based robot code a lot smoother
  * and easier to understand.
  */
 abstract class Robot(opMode: OpMode) : CommandScheduler() {
+    /**
+     * A [MultipleGamepad] storing both OpMode gamepads for convenience.
+     */
     @JvmField
     val gamepad: MultipleGamepad = MultipleGamepad(opMode.gamepad1, opMode.gamepad2)
 
     /**
-     * The hardware map obtained from the opmode.
+     * Whether the current OpMode is a teleop OpMode.
+     */
+    @JvmField
+    val isInTeleOp: Boolean = opMode::class.hasAnnotation<TeleOp>()
+
+    /**
+     * Whether the current OpMode is an autonomous OpMode.
+     */
+    @JvmField
+    val isInAutonomous: Boolean = opMode::class.hasAnnotation<Autonomous>()
+
+    /**
+     * The hardware map obtained from the OpMode.
      */
     @JvmField
     val hMap: HardwareMap = opMode.hardwareMap
@@ -35,4 +53,14 @@ abstract class Robot(opMode: OpMode) : CommandScheduler() {
             telemetry.clear()
         }, gamepad)
     }
+
+    /**
+     * This method is runs when the current OpMode initializes.
+     */
+    abstract fun init()
+
+    /**
+     * This method is run as soon as the current OpMode starts.
+     */
+    abstract fun start()
 }

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

@@ -0,0 +1,36 @@
+package com.amarcolini.joos.command
+
+import com.qualcomm.robotcore.eventloop.opmode.*
+import kotlin.reflect.full.hasAnnotation
+
+/**
+ * An OpMode made for [Robot]s.
+ */
+abstract class RobotOpMode : OpMode() {
+    /**
+     * Whether this OpMode is a teleop OpMode.
+     */
+    @JvmField
+    protected val isTeleOp = this::class.hasAnnotation<TeleOp>()
+
+    /**
+     * Whether this OpMode is an autonomous OpMode.
+     */
+    @JvmField
+    protected val isAutonomous = this::class.hasAnnotation<Autonomous>()
+
+    private lateinit var robot: Robot
+    final override fun init_loop() = robot.update()
+    final override fun start() = robot.start()
+    final override fun loop() = robot.update()
+    override fun stop() = robot.reset()
+
+    /**
+     * Initializes the given robot with this OpMode. This method **must** be called
+     * in order for this OpMode to work correctly.
+     */
+    protected fun initialize(robot: Robot) {
+        this.robot = robot
+        robot.init()
+    }
+}

command/src/main/kotlin/com/amarcolini/joos/gamepad/Button.kt

@@ -1,5 +1,8 @@
 package com.amarcolini.joos.gamepad
 
+/**
+ * Represents the state of a button.
+ */
 class Button(
     state: Boolean = false,
 ) : Toggleable() {

command/src/main/kotlin/com/amarcolini/joos/gamepad/GamepadEx.kt

@@ -91,6 +91,14 @@ class GamepadEx(gamepad: Gamepad) : Component {
     @JvmField
     val y: Button = Button()
 
+    private var leftStick = getLeftStick()
+    private var rightStick = getRightStick()
+    var leftStickChanged: Boolean = false
+        private set
+        @JvmName("leftStickChanged") get
+    var rightStickChanged: Boolean = false
+        private set
+        @JvmName("rightStickChanged") get
 
     override fun update() {
         a.update(internal.a)
@@ -120,6 +128,10 @@ class GamepadEx(gamepad: Gamepad) : Component {
         triangle.update(internal.triangle)
         x.update(internal.x)
         y.update(internal.y)
+        leftStickChanged = getLeftStick() epsilonEquals leftStick
+        rightStickChanged = getRightStick() epsilonEquals rightStick
+        leftStick = getLeftStick()
+        rightStick = getRightStick()
     }
 
     fun getButton(button: GamepadButton): Toggleable = when (button) {

gui/src/main/kotlin/com/amarcolini/joos/gui/rendering/TrajectoryEntity.kt

@@ -222,7 +222,6 @@ internal class TrajectoryEntity(private val getScale: () -> Double) : Entity() {
                             val new = Vector2d(delta.x + circle.centerX, delta.y + circle.centerY)
                             var pos =
                                 Vector2d(new.x.coerceIn(-72.0, 72.0), new.y.coerceIn(-72.0, 72.0))
-                            println(pos)
                             val newWaypoint = when (waypoint) {
                                 is SplineTo -> SplineTo(pos, waypoint.tangent)
                                 is Start -> Start(

navigation/src/main/kotlin/com/amarcolini/joos/path/ParametricCurve.kt

@@ -150,9 +150,7 @@ abstract class ParametricCurve {
         maxDepth: Int = 15,
         maxDeltaK: Double = 0.01
     ) {
-        var maxReachedDepth = 0
         fun parameterize(tLo: Double, tHi: Double, depth: Int) {
-            if (depth > maxReachedDepth) maxReachedDepth = depth
             val tMid = (tLo + tHi) * 0.5
             val vLo = internalGet(tLo)
             val vMid = internalGet(tMid)
@@ -171,7 +169,6 @@ abstract class ParametricCurve {
             }
         }
         parameterize(tLo, tHi, 0)
-        println(maxReachedDepth)
     }
 
     /**