Demo

.travis.yml

@@ -22,5 +22,6 @@ install:
   - sed -i 's/compiler="javac1.8"//g' wpilib/ant/build.xml
   - sed -i 's/compiler="javac1.8"//g' *.xml
   - sed -i 's/compiler="javac1.8"//g' FRamework/*.xml
+  - ant checkstyle
   - ant compile
   - ant checkstyle

docs/google_checks.xml

@@ -108,32 +108,32 @@
         value="Type name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="MemberName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <message key="name.invalidPattern"
         value="Member name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="ParameterName">
       <property name="id" value="ParameterNameNonPublic"/>
-      <property name="format" value="^[a-z]([a-z0-9][a-zA-Z0-9]*)?$"/>
+      <property name="format" value="^[a-zPos]([a-z0-9][a-zA-Z0-9]*)?$"/>
       <property name="excludeScope" value="public"/>
       <message key="name.invalidPattern"
         value="Parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="ParameterName">
       <property name="id" value="ParameterNamePublic"/>
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <property name="scope" value="public"/>
       <message key="name.invalidPattern"
         value="Parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="CatchParameterName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <message key="name.invalidPattern"
         value="Catch parameter name ''{0}'' must match pattern ''{1}''."/>
     </module>
     <module name="LocalVariableName">
       <property name="tokens" value="VARIABLE_DEF"/>
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9]*$"/>
       <property name="allowOneCharVarInForLoop" value="true"/>
       <message key="name.invalidPattern"
         value="Local variable name ''{0}'' must match pattern ''{1}''."/>
@@ -221,7 +221,7 @@
       <property name="allowThrowsTagsForSubclasses" value="true"/>
     </module>
     <module name="MethodName">
-      <property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9_]*$"/>
+      <property name="format" value="^[a-zPos][a-z0-9][a-zA-Z0-9_]*$"/>
       <message key="name.invalidPattern"
         value="Method name ''{0}'' must match pattern ''{1}''."/>
     </module>

install-ivy.xml

@@ -28,7 +28,7 @@
     <!-- try to load ivy here from ivy home, in case the user has not already dropped
             it into ant's lib dir (note that the latter copy will always take precedence).
             We will not fail as long as local lib dir exists (it may be empty) and
-            ivy is in at least one of ant's lib dir or the local lib dir. -->
+            ivy is in at least one of ant's lib dir or the local dir. -->
     <path id="ivy.lib.path">
       <fileset dir="${ivy.jar.dir}" includes="*.jar"/>
     </path>

ivy.xml

@@ -12,5 +12,6 @@
     <dependency org="junit" name="junit" rev="4.12"/>
     <dependency org="org.apache.ant" name="ant-junit" rev="1.9.7"/>
     <dependency org="com.puppycrawl.tools" name="checkstyle" rev="7.4"/>
+    <dependency org="com.googlecode.json-simple" name="json-simple" rev="1.1.1"/>
   </dependencies>
 </ivy-module>

src/com/nutrons/libKudos254/Rotation2d.java

@@ -0,0 +1,129 @@
+package com.nutrons.libKudos254;
+
+import java.text.DecimalFormat;
+
+/**
+ * A rotation in a 2d coordinate frame represented a point on the unit circle
+ * (cosine and sine).
+ * Inspired by Sophus (https://github.com/strasdat/Sophus/tree/master/sophus)
+ */
+public class Rotation2d {
+  protected static final double kEpsilon = 1E-9;
+
+  protected double cosAngle;
+  protected double sinAngle;
+
+  public Rotation2d() {
+    this(1, 0, false);
+  }
+
+  /**
+   * Makes a Rotation2d.
+   * @param xparam posX
+   * @param yparam posY
+   * @param normalize normalize
+   */
+  public Rotation2d(double xparam, double yparam, boolean normalize) {
+    cosAngle = xparam;
+    sinAngle = yparam;
+    if (normalize) {
+      normalize();
+    }
+  }
+
+  public Rotation2d(Rotation2d other) {
+    cosAngle = other.cosAngle;
+    sinAngle = other.sinAngle;
+  }
+
+  public static Rotation2d fromRadians(double angleRadians) {
+    return new Rotation2d(Math.cos(angleRadians), Math.sin(angleRadians), false);
+  }
+
+  public static Rotation2d fromDegrees(double angleDegrees) {
+    return fromRadians(Math.toRadians(angleDegrees));
+  }
+
+  /**
+   * From trig, we know that sin^2 + cos^2 == 1, but as we do math on this
+   * object we might accumulate rounding errors. Normalizing forces us to
+   * re-scale the sin and cos to reset rounding errors.
+   */
+  public void normalize() {
+    double magnitude = Math.hypot(cosAngle, sinAngle);
+    if (magnitude > kEpsilon) {
+      sinAngle /= magnitude;
+      cosAngle /= magnitude;
+    } else {
+      sinAngle = 0;
+      cosAngle = 1;
+    }
+  }
+
+  /**
+   * Returns the cos angle of the object.
+   * @return the cos angle.
+   */
+  public double cos() {
+    return cosAngle;
+  }
+
+  /**
+   * Returns the sin angle of the object.
+   * @return the sin angle.
+   */
+  public double sin() {
+    return sinAngle;
+  }
+
+  /**
+   * Returns the tan angle of the object.
+   * @return the tan angle.
+   */
+  public double tan() {
+    if (cosAngle < kEpsilon) {
+      if (sinAngle >= 0.0) {
+        return Double.POSITIVE_INFINITY;
+      } else {
+        return Double.NEGATIVE_INFINITY;
+      }
+    }
+    return sinAngle / cosAngle;
+  }
+
+  public double getRadians() {
+    return Math.atan2(sinAngle, cosAngle);
+  }
+
+  public double getDegrees() {
+    return Math.toDegrees(getRadians());
+  }
+
+  /**
+   * We can rotate this Rotation2d by adding together the effects of it and
+   * another rotation.
+   *
+   * @param other The other rotation. See:
+   *              https://en.wikipedia.org/wiki/Rotation_matrix
+   * @return This rotation rotated by other.
+   */
+  public Rotation2d rotateBy(Rotation2d other) {
+    return new Rotation2d(cosAngle * other.cosAngle - sinAngle * other.sinAngle,
+        cosAngle * other.sinAngle + sinAngle * other.cosAngle, true);
+  }
+
+  /**
+   * The inverse of a Rotation2d "undoes" the effect of this rotation.
+   *
+   * @return The opposite of this rotation.
+   */
+  public Rotation2d inverse() {
+    return new Rotation2d(cosAngle, -sinAngle, false);
+  }
+
+  @Override
+  public String toString() {
+    final DecimalFormat fmt = new DecimalFormat("#0.000");
+    return "(" + fmt.format(getDegrees()) + " deg)";
+  }
+}

src/com/nutrons/libKudos254/vision/AdbBridge.java

@@ -0,0 +1,88 @@
+package com.nutrons.libKudos254.vision;
+
+import java.io.IOException;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+/**
+ * AdbBridge interfaces to an Android Debug Bridge (adb) binary, which is needed
+ * to communicate to Android devices over USB.
+ * adb binary provided by https://github.com/Spectrum3847/RIOdroid
+ */
+public class AdbBridge {
+  Path binLocation;
+  public static final Path DEFAULT_LOCATION = Paths.get("/usr/bin/adb");
+
+  /**
+   * Makes an ADBBridge.
+   */
+  public AdbBridge() {
+    Path adbLocation;
+    String envVal = System.getenv("FRC_ADB_LOCATION");
+    if (envVal == null || "".equals(envVal)) {
+      adbLocation = DEFAULT_LOCATION;
+    } else {
+      adbLocation = Paths.get(envVal);
+    }
+    binLocation = adbLocation;
+  }
+
+  public AdbBridge(Path location) {
+    binLocation = location;
+  }
+
+  private boolean runCommand(String args) {
+    Runtime runtime = Runtime.getRuntime();
+    String cmd = binLocation.toString() + " " + args;
+
+    try {
+      Process process = runtime.exec(cmd);
+      process.waitFor();
+    } catch (IOException exception) {
+      System.err.println("AdbBridge: Could not run command " + cmd);
+      exception.printStackTrace();
+      return false;
+    } catch (InterruptedException exception) {
+      System.err.println("AdbBridge: Could not run command " + cmd);
+      exception.printStackTrace();
+      return false;
+    }
+    return true;
+  }
+
+  public void start() {
+    System.out.println("Starting adb");
+    runCommand("start");
+  }
+
+  public void stop() {
+    System.out.println("Stopping adb");
+    runCommand("kill-server");
+  }
+
+  /**
+   * Restarts the adbBridge.
+   */
+  public void restartAdb() {
+    System.out.println("Restarting adb");
+    stop();
+    start();
+  }
+
+  public void portForward(int localPort, int remotePort) {
+    runCommand("forward tcp:" + localPort + " tcp:" + remotePort);
+  }
+
+  public void reversePortForward(int remotePort, int localPort) {
+    runCommand("reverse tcp:" + remotePort + " tcp:" + localPort);
+  }
+
+  /**
+   * Restarts the adb app.
+   */
+  public void restartApp() {
+    System.out.println("Restarting app");
+    runCommand("shell am force-stop com.team254.cheezdroid \\; "
+        + "am start com.team254.cheezdroid/com.team254.cheezdroid.VisionTrackerActivity");
+  }
+}