From 2889084e5da12292446ad5bb9750f39a0da32d2f Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Thu, 13 Dec 2018 10:42:10 -0800
Subject: [PATCH 01/29] Make addAllSendables() follow a builder pattern

---
 .../rooster/testers/motor/SimpleControllersTester.java      | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
index 95cc63d0..055f0de4 100644
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
@@ -148,11 +148,13 @@ public void initSendable(SendableBuilder builder) {
 
   /**
    * Add all the sendables to the {@link SmartDashboard}. Includes chooser for selecting the
-   * active {@link IMotorController} and information about the tester.
+   * active {@link IMotorController} and information about the tester. Follows a builder pattern.
+   * @return Follows a builder pattern.
    */
-  public void addAllSendables() {
+  public SimpleControllersTester addAllSendables() {
     SmartDashboard.putData("Controller tester info", this);
     SmartDashboard.putData("Controller choose", getControllerChooser());
+    return this;
   }
 
 

From b91f5479f3daff5b8e855b3ad73aa17165983571 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Sat, 1 Dec 2018 13:01:22 -0800
Subject: [PATCH 02/29] Update Gradle to 5.0

---
 build.gradle                             |   6 +++---
 gradle/wrapper/gradle-wrapper.jar        | Bin 54329 -> 55741 bytes
 gradle/wrapper/gradle-wrapper.properties |   3 +--
 gradlew                                  |   2 +-
 gradlew.bat                              |   2 +-
 5 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/build.gradle b/build.gradle
index 90414b38..784560cd 100644
--- a/build.gradle
+++ b/build.gradle
@@ -10,9 +10,9 @@ buildscript {
     }
 }
 
-task wrapper(type: Wrapper) {
-    gradleVersion = '4.4'
-    distributionUrl = "https://services.gradle.org/distributions/gradle-4.4-all.zip"
+wrapper {
+    gradleVersion = '5.0'
+    distributionType = Wrapper.DistributionType.ALL
 }
 
 subprojects {
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 01b8bf6b1f99cad9213fc495b33ad5bbab8efd20..457aad0d98108420a977756b7145c93c8910b076 100644
GIT binary patch
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diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 1510c29a..ee671127 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,5 @@
-#Fri Nov 30 17:46:10 PST 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-all.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-all.zip
diff --git a/gradlew b/gradlew
index cccdd3d5..af6708ff 100755
--- a/gradlew
+++ b/gradlew
@@ -28,7 +28,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
diff --git a/gradlew.bat b/gradlew.bat
index f9553162..6d57edc7 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -14,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS=
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

From d168f821d5f7ac64ab1837f59c92955fc947d8e9 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Thu, 3 Jan 2019 22:06:58 -0800
Subject: [PATCH 03/29] Fix braces

lol
---
 build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index 784560cd..5c3b1e47 100644
--- a/build.gradle
+++ b/build.gradle
@@ -27,7 +27,7 @@ subprojects {
 
     repositories {
         mavenCentral()
-        maven {url "https://jitpack.io/"}
+        maven { url "https://jitpack.io/" }
     }
 
     dependencies {

From bb61e9500048d49f4333ee25aa59de0cb6bf47ad Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Thu, 3 Jan 2019 23:16:57 -0800
Subject: [PATCH 04/29] Update to new GradleRIO

This is broken at the moment so [skip-ci], but I'm just uploading so
someone on discord can take a look
---
 build.gradle      |  9 ++++++++-
 lib/build.gradle  | 39 +++++++++++++++++++++++++++++----------
 test/build.gradle | 45 ++++++++++++++++++++++-----------------------
 3 files changed, 59 insertions(+), 34 deletions(-)

diff --git a/build.gradle b/build.gradle
index 5c3b1e47..36ac93d3 100644
--- a/build.gradle
+++ b/build.gradle
@@ -27,7 +27,14 @@ subprojects {
 
     repositories {
         mavenCentral()
-        maven { url "https://jitpack.io/" }
+        maven {
+            name "JitPack"
+            url "https://jitpack.io/"
+        }
+        maven {
+            name "Jaci"
+            url "http://dev.imjac.in/maven/"
+        }
     }
 
     dependencies {
diff --git a/lib/build.gradle b/lib/build.gradle
index fbee41ea..1b651476 100644
--- a/lib/build.gradle
+++ b/lib/build.gradle
@@ -16,9 +16,15 @@ artifacts {
 }
 
 repositories {
-    maven { url "http://first.wpi.edu/FRC/roborio/maven/release" }
-    maven { url "http://dev.imjac.in/maven/" }
-    maven { url "https://raw.githubusercontent.com/Open-RIO/Maven-Mirror/master/m2" }
+    maven {
+        name "WPI"
+        url "http://first.wpi.edu/FRC/roborio/maven/release"
+    }
+    maven {
+        name "CTRE"
+        url "http://devsite.ctr-electronics.com/maven/release/"
+    }
+    // NavX software is hosted on Maven Central cuz they're good at things
 }
 
 javadoc {
@@ -35,15 +41,28 @@ javadoc {
 
 
 dependencies {
-    compile "edu.wpi.first.wpilibj:wpilibj-java:2018.4.1"
-    compile "edu.wpi.first.ntcore:ntcore-java:4.1.0"
-    compile "edu.wpi.first.wpiutil:wpiutil-java:3.2.0"
+    // We only bring in the java interfaces here. JNIs (native code) get brought in by GradleRIO, 
+    // but we don't need those to compile our java code.
+
+    // FRC dependencies
+    
+    // WPI et al
+    compile "edu.wpi.first.wpilibj:wpilibj-java:2019.1.1"
+    compile "edu.wpi.first.ntcore:ntcore-java:2019.1.1"
     compile "org.opencv:opencv-java:3.2.0"
-    compile "edu.wpi.first.cscore:cscore-java:1.3.0"
-    compile "openrio.mirror.third.ctre:CTRE-phoenix-java:5.3.1.0"
-    compile "openrio.mirror.third.kauailabs:navx-java:3.0.346"
+    compile "edu.wpi.first.cscore:cscore-java:2019.1.1"
+    
+    // CTRE
+    compile "com.ctre.phoenix:api-java:5.12.0"
+    compile "com.ctre.phoenix:wpiapi-java:5.12.0"
+    
+    // NavX
+    compile "com.kauailabs.navx.frc:navx-java:3.1.340"
+
+    // Pathfinder
     compile "jaci.pathfinder:Pathfinder-Java:1.8"
-    compile "openrio.powerup:MatchData:2018.01.07"
+
+    // Non-FRC depedencies
     compile "com.google.guava:guava:27.0-jre"
     compile "org.apache.commons:commons-math3:3.6.1"
     // Last release was in 2014, so we're just pinning it to this commit instead
diff --git a/test/build.gradle b/test/build.gradle
index 1745e1e3..7a79a48b 100644
--- a/test/build.gradle
+++ b/test/build.gradle
@@ -1,33 +1,15 @@
-import jaci.openrio.gradle.GradleRIOPlugin
-import jaci.openrio.gradle.frc.FRCJavaArtifact
-import jaci.openrio.gradle.frc.RoboRIO
-
 plugins {
-    id "jaci.openrio.gradle.GradleRIO" version "2018.03.06"
-}
-
-wpi {
-    ctreVersion = "5.3.1.0"
+    id "edu.wpi.first.GradleRIO" version "2019.1.1"
 }
 
-dependencies {
-    compile project(":lib")
-    compile wpilib()
-    compile ctre()
-    compile navx()
-    compile pathfinder()
-}
-
-def TEAM = 1540
-
 deploy {
     targets {
-        target("roborio", RoboRIO) {
-            team = TEAM
+        roboRIO("roborio") {
+            team = frc.getTeamOrDefault(1540)
         }
     }
     artifacts {
-        artifact('frcJava', FRCJavaArtifact) {
+        frcJavaArtifact('frcJava') {
             targets << "roborio"
             /*
             IMPORTANT: With the "deploy-debug" property set (i.e. -Pdeploy-debug is on the
@@ -40,6 +22,23 @@ deploy {
     }
 }
 
+
+dependencies {
+    compile(project(":lib")) {
+        exclude group: "edu.wpi.first.wpilibj"
+        exclude group: "edu.wpi.first.ntcore"
+        exclude group: "edu.wpi.first.cscore"
+        exclude group: "org.opencv"
+        exclude group: "com.ctre.phoenix"
+        exclude group: "com.kauailabs.navx.frc"
+    }
+
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+}
+
 jar {
     // declare the robot class property as an input, as normally since we
     // set it at runtime this wouldn't run if the class changed due to up-to-date checking
@@ -57,7 +56,7 @@ jar {
             } else {
                 println "Creating JAR for robot ${project.robotClass}"
             }
-            manifest GradleRIOPlugin.javaManifest(project.robotClass)
+            manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(project.robotClass)
         }
     }
     from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }

From 2e75ee52a326705813b829288d89e8ebb33e4cd4 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 00:45:10 -0800
Subject: [PATCH 05/29] Update to 2019

Whew. So, the 2019 GradleRIO and WPILib update borked a lot of the
library structure (fortunately almost none of the code) and so I've
restructured the thing. Again. Now, instead of having two gradle
projects, we have two source sets (i.e. folders in src/). There's still
some improvements that need to be made.

 * The choose-your-own-robot-class function is entirely broken and I'm
   not sure how I can fix it without some ugly stuff.

 * Not totally sure about new API stuff, and various bits and bobs may
   need to be migrated for them to work properly.

 * The testing framework is temporarily deleted because CTRE updates
   borked it. @edelmanjm
---
 .idea/compiler.xml                            |   6 +-
 .idea/misc.xml                                |   8 +-
 build.gradle                                  | 120 ++++++++--
 gradle/wrapper/gradle-wrapper.properties      |   4 +-
 lib/build.gradle                              |  70 ------
 lib/settings.gradle                           |   0
 .../rooster/testers/AbstractTester.java       | 209 ------------------
 .../rooster/testers/ResultWithMetadata.java   |  32 ---
 .../org/team1540/rooster/testers/Tester.java  |  91 --------
 .../rooster/testers/motor/BurnoutTester.java  | 174 ---------------
 .../testers/motor/ControllersMultiTester.java | 207 -----------------
 .../rooster/testers/motor/EncoderTester.java  | 145 ------------
 .../motor/SimpleControllersTester.java        | 159 -------------
 .../rooster/testers/package-info.java         |   4 -
 settings.gradle                               |   3 -
 .../team1540/rooster/ChickenSubsystem.java    |   2 +-
 .../java/org/team1540/rooster/Utilities.java  |   0
 .../adjustables/AdjustableManager.java        |   0
 .../adjustables/SmartDashboardGet.java        |   0
 .../adjustables/SmartDashboardPut.java        |   0
 .../rooster/adjustables/Telemetry.java        |   0
 .../rooster/adjustables/TelemetryType.java    |   0
 .../team1540/rooster/adjustables/Tunable.java |   0
 .../rooster/adjustables/TunableType.java      |   0
 .../rooster/drive/JoystickScaling.java        |   0
 .../rooster/drive/NoJoystickScaling.java      |   0
 .../org/team1540/rooster/drive/PidDrive.java  |   0
 .../rooster/drive/PidDriveConfiguration.java  |   0
 .../rooster/drive/PidDriveFactory.java        |   0
 .../rooster/drive/PowerJoystickScaling.java   |   0
 .../team1540/rooster/drive/package-info.java  |   0
 .../pipeline/AdvancedArcadeJoystickInput.java |   0
 .../rooster/drive/pipeline/CTREOutput.java    |   0
 .../rooster/drive/pipeline/DriveData.java     |   0
 .../drive/pipeline/FeedForwardProcessor.java  |   0
 .../rooster/drive/pipeline/Input.java         |   0
 .../rooster/drive/pipeline/Output.java        |   0
 .../rooster/drive/pipeline/Processor.java     |   0
 .../drive/pipeline/SimpleJoystickInput.java   |   0
 .../rooster/drive/pipeline/TankDriveData.java |   0
 .../rooster/drive/pipeline/UnitScaler.java    |   0
 .../rooster/drive/pipeline/package-info.java  |   0
 .../MotionProfilingProperties.java            |   0
 .../motionprofiling/RunMotionProfiles.java    |   0
 .../rooster/power/PowerManageable.java        |   0
 .../team1540/rooster/power/PowerManager.java  |   0
 .../rooster/power/PowerTelemetry.java         |   0
 .../team1540/rooster/power/package-info.java  |   0
 .../rooster/preferencemanager/Preference.java |   0
 .../preferencemanager/PreferenceManager.java  |   0
 .../preferencemanager/TuningClass.java        |   0
 .../preferencemanager/package-info.java       |   0
 .../team1540/rooster/triggers/AxisButton.java |   0
 .../team1540/rooster/triggers/DPadAxis.java   |   0
 .../team1540/rooster/triggers/DPadButton.java |   0
 .../rooster/triggers/SimpleButton.java        |   0
 .../rooster/triggers/StrictDPadButton.java    |   0
 .../rooster/triggers/package-info.java        |   0
 .../team1540/rooster/util/AsyncCommand.java   |   0
 .../team1540/rooster/util/DashboardUtils.java |   0
 .../org/team1540/rooster/util/Executable.java |   0
 .../rooster/util/SimpleAsyncCommand.java      |   0
 .../team1540/rooster/util/SimpleCommand.java  |   0
 .../util/SimpleConditionalCommand.java        |   0
 .../rooster/util/SimpleLoopCommand.java       |   0
 .../team1540/rooster/util/package-info.java   |   0
 .../rooster/util/robots/PIDTuningRobot.java   |   0
 .../rooster/util/robots/package-info.java     |   0
 .../rooster/wrappers/ChickenController.java   |   4 +-
 .../rooster/wrappers/ChickenTalon.java        |   4 +-
 .../rooster/wrappers/ChickenVictor.java       | 159 +------------
 .../team1540/rooster/wrappers/RevBlinken.java |   0
 .../rooster/wrappers/package-info.java        |   0
 .../drive/pipeline/PipelineExtensions.kt      |   0
 .../rooster/testing/AdjustableTestRobot.java  |   0
 .../testing/AsyncCommandTestRobot.java        |   0
 .../rooster/testing/BlinkenTestRobot.java     |   2 +-
 .../rooster/testing/DriveTestRobot.java       |   0
 .../rooster/testing/HelloWorldTestRobot.java  |   0
 .../rooster/testing/PreferencesTestRobot.java |   0
 .../rooster/testing/package-info.java         |   0
 .../rooster/testing/DrivePipelineTesting.kt   |   0
 test/build.gradle                             |  63 ------
 test/settings.gradle                          |   0
 vendordeps/NavX.json                          |  33 +++
 vendordeps/PathfinderOLD.json                 |  87 ++++++++
 vendordeps/Phoenix.json                       |  87 ++++++++
 87 files changed, 326 insertions(+), 1347 deletions(-)
 delete mode 100644 lib/build.gradle
 delete mode 100644 lib/settings.gradle
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/Tester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
 delete mode 100644 lib/src/main/java/org/team1540/rooster/testers/package-info.java
 rename {lib/src => src}/main/java/org/team1540/rooster/ChickenSubsystem.java (99%)
 rename {lib/src => src}/main/java/org/team1540/rooster/Utilities.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/AdjustableManager.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/SmartDashboardGet.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/SmartDashboardPut.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/Telemetry.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/TelemetryType.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/Tunable.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/adjustables/TunableType.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/JoystickScaling.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/NoJoystickScaling.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/PidDrive.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/PidDriveConfiguration.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/PidDriveFactory.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/PowerJoystickScaling.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/AdvancedArcadeJoystickInput.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/CTREOutput.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/DriveData.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/FeedForwardProcessor.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/Input.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/Output.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/Processor.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/SimpleJoystickInput.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/TankDriveData.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/UnitScaler.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/drive/pipeline/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/motionprofiling/MotionProfilingProperties.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/motionprofiling/RunMotionProfiles.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/power/PowerManageable.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/power/PowerManager.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/power/PowerTelemetry.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/power/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/preferencemanager/Preference.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/preferencemanager/PreferenceManager.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/preferencemanager/TuningClass.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/preferencemanager/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/AxisButton.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/DPadAxis.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/DPadButton.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/SimpleButton.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/StrictDPadButton.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/triggers/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/AsyncCommand.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/DashboardUtils.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/Executable.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/SimpleAsyncCommand.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/SimpleCommand.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/SimpleConditionalCommand.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/SimpleLoopCommand.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/robots/PIDTuningRobot.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/util/robots/package-info.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/wrappers/ChickenController.java (99%)
 rename {lib/src => src}/main/java/org/team1540/rooster/wrappers/ChickenTalon.java (99%)
 rename {lib/src => src}/main/java/org/team1540/rooster/wrappers/ChickenVictor.java (78%)
 rename {lib/src => src}/main/java/org/team1540/rooster/wrappers/RevBlinken.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/wrappers/package-info.java (100%)
 rename {lib/src => src}/main/kotlin/org/team1540/rooster/drive/pipeline/PipelineExtensions.kt (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/AdjustableTestRobot.java (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/BlinkenTestRobot.java (98%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/DriveTestRobot.java (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/HelloWorldTestRobot.java (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/PreferencesTestRobot.java (100%)
 rename {test/src/main => src/testbots}/java/org/team1540/rooster/testing/package-info.java (100%)
 rename {test/src/main => src/testbots}/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt (100%)
 delete mode 100644 test/build.gradle
 delete mode 100644 test/settings.gradle
 create mode 100644 vendordeps/NavX.json
 create mode 100644 vendordeps/PathfinderOLD.json
 create mode 100644 vendordeps/Phoenix.json

diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index f84dc7d8..806c7b0e 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -4,12 +4,14 @@
     <bytecodeTargetLevel>
       <module name="lib_main" target="1.8" />
       <module name="lib_test" target="1.8" />
+      <module name="lib_testbots" target="1.8" />
       <module name="ROOSTER.lib.main" target="1.8" />
       <module name="ROOSTER.lib.test" target="1.8" />
       <module name="ROOSTER.test.main" target="1.8" />
       <module name="ROOSTER.test.test" target="1.8" />
-      <module name="ROOSTER_main" target="1.8" />
-      <module name="ROOSTER_test" target="1.8" />
+      <module name="ROOSTER_main" target="11" />
+      <module name="ROOSTER_test" target="11" />
+      <module name="ROOSTER_testbots" target="11" />
       <module name="test_main" target="1.8" />
       <module name="test_test" target="1.8" />
     </bytecodeTargetLevel>
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 2b874b6a..6e0a941b 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -8,7 +8,7 @@
     <option name="myDefaultNotNull" value="org.jetbrains.annotations.NotNull" />
     <option name="myNullables">
       <value>
-        <list size="9">
+        <list size="10">
           <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.Nullable" />
           <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nullable" />
           <item index="2" class="java.lang.String" itemvalue="javax.annotation.CheckForNull" />
@@ -18,12 +18,13 @@
           <item index="6" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.qual.Nullable" />
           <item index="7" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.compatqual.NullableDecl" />
           <item index="8" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.compatqual.NullableType" />
+          <item index="9" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNullable" />
         </list>
       </value>
     </option>
     <option name="myNotNulls">
       <value>
-        <list size="9">
+        <list size="10">
           <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.NotNull" />
           <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nonnull" />
           <item index="2" class="java.lang.String" itemvalue="javax.validation.constraints.NotNull" />
@@ -33,11 +34,12 @@
           <item index="6" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.qual.NonNull" />
           <item index="7" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.compatqual.NonNullDecl" />
           <item index="8" class="java.lang.String" itemvalue="org.checkerframework.checker.nullness.compatqual.NonNullType" />
+          <item index="9" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNonNull" />
         </list>
       </value>
     </option>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/out" />
   </component>
 </project>
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 36ac93d3..0acbe3e3 100644
--- a/build.gradle
+++ b/build.gradle
@@ -10,35 +10,113 @@ buildscript {
     }
 }
 
-wrapper {
-    gradleVersion = '5.0'
-    distributionType = Wrapper.DistributionType.ALL
+plugins {
+    id "java"
+    id "maven"
+    id "edu.wpi.first.GradleRIO" version "2019.1.1"
 }
 
-subprojects {
-    apply plugin: "java"
-    apply plugin: "kotlin"
+apply plugin: "kotlin"
 
-    compileKotlin {
-        kotlinOptions {
-            jvmTarget = "1.8"
-        }
+task sourcesJar(type: Jar, dependsOn: classes) {
+    classifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task javadocJar(type: Jar, dependsOn: javadoc) {
+    classifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+artifacts {
+    archives sourcesJar
+    archives javadocJar
+}
+
+repositories {
+    mavenCentral()
+    maven {
+        name "JitPack"
+        url "https://jitpack.io/"
     }
+}
 
-    repositories {
-        mavenCentral()
-        maven {
-            name "JitPack"
-            url "https://jitpack.io/"
+javadoc {
+    options {
+        header '<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>'
+        links 'http://first.wpi.edu/FRC/roborio/release/docs/java/', 'http://www.ctr-electronics.com/downloads/api/java/html/'
+        linksOffline('https://docs.oracle.com/javase/8/docs/api/', 'https://docs.oracle.com/javase/8/docs/api/')
+    }
+    options.addStringOption("doctitle", "ROOSTER API")
+    options.addStringOption("windowtitle", "ROOSTER API")
+    options.addBooleanOption("-allow-script-in-comments", true)
+    options.addBooleanOption('Xdoclint:all,-missing', true)
+}
+
+
+dependencies {
+    // FRC dependencies
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    // Non-FRC depedencies
+    compile 'org.jetbrains:annotations:16.0.3'
+    compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
+
+    compile "com.google.guava:guava:27.0-jre"
+    compile "org.apache.commons:commons-math3:3.6.1"
+    // Last release was in 2014, so we're just pinning it to this commit instead
+    compile "com.github.oxo42:stateless4j:3dd512049f"
+}
+
+sourceSets {
+    testbots {
+        compileClasspath += sourceSets.main.output
+        runtimeClasspath += sourceSets.main.output
+    }
+}
+
+configurations {
+    testbotsCompile.extendsFrom compile
+    testbotsRuntimeOnly.extendsFrom runtimeOnly
+}
+
+deploy {
+    targets {
+        roboRIO("roborio") {
+            team = frc.getTeamOrDefault(1540)
         }
-        maven {
-            name "Jaci"
-            url "http://dev.imjac.in/maven/"
+    }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            /*
+            IMPORTANT: With the "deploy-debug" property set (i.e. -Pdeploy-debug is on the
+            command line), the robot code will not start until you connect your debugger to the
+            robot. Connect by running the "Remote Robot Debug" run configuration which should be
+            shared through version control. Alternatively, remove this line and redeploy.
+            */
+            debug = project.hasProperty("deploy-debug")
         }
     }
+}
 
-    dependencies {
-        compile 'org.jetbrains:annotations:16.0.3'
-        compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
+jar.dependsOn(compileTestbotsJava)
+
+jar {
+    inputs.files(compileTestbotsJava.outputs.files)
+    gradle.taskGraph.whenReady {
+        if (gradle.taskGraph.hasTask(":deploy")) { // fully qualified task name is needed
+            from ((configurations.compile.collect {
+                it.isDirectory() ? it : zipTree(it)
+            }) + sourceSets.testbots.output)
+        }
     }
 }
+
+wrapper {
+    gradleVersion = '5.0'
+    distributionType = Wrapper.DistributionType.ALL
+}
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index ee671127..4a248e4a 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
+distributionPath=permwrapper/dists
 distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-all.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists
diff --git a/lib/build.gradle b/lib/build.gradle
deleted file mode 100644
index 1b651476..00000000
--- a/lib/build.gradle
+++ /dev/null
@@ -1,70 +0,0 @@
-apply plugin: "maven"
-
-task sourcesJar(type: Jar, dependsOn: classes) {
-    classifier = 'sources'
-    from sourceSets.main.allSource
-}
-
-task javadocJar(type: Jar, dependsOn: javadoc) {
-    classifier = 'javadoc'
-    from javadoc.destinationDir
-}
-
-artifacts {
-    archives sourcesJar
-    archives javadocJar
-}
-
-repositories {
-    maven {
-        name "WPI"
-        url "http://first.wpi.edu/FRC/roborio/maven/release"
-    }
-    maven {
-        name "CTRE"
-        url "http://devsite.ctr-electronics.com/maven/release/"
-    }
-    // NavX software is hosted on Maven Central cuz they're good at things
-}
-
-javadoc {
-    options {
-        header '<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>'
-        links 'http://first.wpi.edu/FRC/roborio/release/docs/java/', 'http://www.ctr-electronics.com/downloads/api/java/html/'
-        linksOffline('https://docs.oracle.com/javase/8/docs/api/', 'https://docs.oracle.com/javase/8/docs/api/')
-    }
-    options.addStringOption("doctitle", "ROOSTER API")
-    options.addStringOption("windowtitle", "ROOSTER API")
-    options.addBooleanOption("-allow-script-in-comments", true)
-    options.addBooleanOption('Xdoclint:all,-missing', true)
-}
-
-
-dependencies {
-    // We only bring in the java interfaces here. JNIs (native code) get brought in by GradleRIO, 
-    // but we don't need those to compile our java code.
-
-    // FRC dependencies
-    
-    // WPI et al
-    compile "edu.wpi.first.wpilibj:wpilibj-java:2019.1.1"
-    compile "edu.wpi.first.ntcore:ntcore-java:2019.1.1"
-    compile "org.opencv:opencv-java:3.2.0"
-    compile "edu.wpi.first.cscore:cscore-java:2019.1.1"
-    
-    // CTRE
-    compile "com.ctre.phoenix:api-java:5.12.0"
-    compile "com.ctre.phoenix:wpiapi-java:5.12.0"
-    
-    // NavX
-    compile "com.kauailabs.navx.frc:navx-java:3.1.340"
-
-    // Pathfinder
-    compile "jaci.pathfinder:Pathfinder-Java:1.8"
-
-    // Non-FRC depedencies
-    compile "com.google.guava:guava:27.0-jre"
-    compile "org.apache.commons:commons-math3:3.6.1"
-    // Last release was in 2014, so we're just pinning it to this commit instead
-    compile "com.github.oxo42:stateless4j:3dd512049f"
-}
diff --git a/lib/settings.gradle b/lib/settings.gradle
deleted file mode 100644
index e69de29b..00000000
diff --git a/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java b/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
deleted file mode 100644
index 56eabb27..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
+++ /dev/null
@@ -1,209 +0,0 @@
-package org.team1540.rooster.testers;
-
-import com.google.common.collect.EvictingQueue;
-import java.util.Collections;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.function.Function;
-import org.jetbrains.annotations.NotNull;
-import org.jetbrains.annotations.Nullable;
-
-/**
- * A basic implementation of the Tester interface using essentially EvictingQueues for result
- * storage.
- */
-@SuppressWarnings({"unused", "UnstableApiUsage"})
-public abstract class AbstractTester<T, R> implements Tester<T, R> {
-
-  private static float DEFAULT_LOG_TIME = 150;
-  private static int DEFAULT_UPDATE_DELAY = 2500;
-
-  private int updateDelay;
-  private boolean running = true;
-  @NotNull
-  private List<T> itemsToTest;
-  @NotNull
-  private Function<T, R> test;
-  @Nullable
-  private List<Function<T, Boolean>> runConditions;
-  @NotNull
-  private Map<T, ResultStorage<R>> storedResults;
-
-  /**
-   * Construct a new instance with the default queue depth.
-   *
-   * @param test The test to execute.
-   * @param itemsToTest The items to apply the test to.
-   * @param runConditions The conditions that must be met before the test will be executed on an
-   * item.
-   */
-  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @Nullable List<Function<T, Boolean>> runConditions) {
-    this(test, itemsToTest, runConditions, (int) DEFAULT_LOG_TIME / (DEFAULT_UPDATE_DELAY / 1000));
-  }
-
-  /**
-   * Construct a new instance, specifying the logTime and updateDelay to calculate the queue depth.
-   *
-   * @param test The test to execute.
-   * @param itemsToTest The items to apply the test to.
-   * @param runConditions The conditions that must be met before the test will be executed on an
-   * item.
-   * @param logTime The maximum length of time for which we want to store the results. Note that
-   * this is just used for estimating the queue depth based on the update delay, not actually
-   * checked against while running.
-   * @param updateDelay The delay between the test being run on the items.
-   */
-  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @Nullable List<Function<T, Boolean>> runConditions, float logTime, int updateDelay) {
-    this(test, itemsToTest, runConditions,
-        (int) (logTime / ((float) updateDelay / 1000f)));
-    this.updateDelay = updateDelay;
-  }
-
-  /**
-   *
-   * Construct a new instance with a given queueDepth.
-   * @param test The test to execute.
-   * @param itemsToTest The items to apply the test to.
-   * @param runConditions The conditions that must be met before the test will be executed on an
-   * item.
-   * @param queueDepth The maximum number of items that the {@link EvictingQueue} can hold.
-   */
-  @SuppressWarnings("WeakerAccess")
-  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @Nullable List<Function<T, Boolean>> runConditions, int queueDepth) {
-    this.test = test;
-    this.itemsToTest = itemsToTest;
-    this.runConditions = runConditions;
-    this.storedResults = new HashMap<>(itemsToTest.size());
-    // TODO I feel like there's a cleaner way of doing this
-    for (T t : itemsToTest) {
-      this.storedResults.put(t, new ResultStorage<>(queueDepth));
-    }
-  }
-
-  @Override
-  @NotNull
-  public Function<T, R> getTest() {
-    return test;
-  }
-
-  @Override
-  public void setTest(@NotNull Function<T, R> test) {
-    this.test = test;
-  }
-
-  @Override
-  @Nullable
-  public List<Function<T, Boolean>> getRunConditions() {
-    return runConditions;
-  }
-
-  @Override
-  public void setRunConditions(
-      @Nullable List<Function<T, Boolean>> runConditions) {
-    this.runConditions = runConditions;
-  }
-
-
-  @Override
-  @NotNull
-  public List<T> getItemsToTest() {
-    return Collections.unmodifiableList(itemsToTest);
-  }
-
-  @Override
-  @NotNull
-  public EvictingQueue<ResultWithMetadata<R>> getStoredResults(T key) {
-    return storedResults.get(key).queuedResults;
-  }
-
-  @Override
-  @Nullable
-  public ResultWithMetadata<R> peekMostRecentResult(T key) {
-    return storedResults.get(key).lastResult;
-  }
-
-  @Override
-  public int getUpdateDelay() {
-    return updateDelay;
-  }
-
-  @Override
-  public int setUpdateDelay(int delay) {
-    int oldUpdateDelay = this.updateDelay;
-    this.updateDelay = delay;
-    return oldUpdateDelay;
-  }
-
-  @Override
-  public boolean setRunning(boolean status) {
-    boolean oldRunning = this.running;
-    this.running = status;
-    return status;
-  }
-
-  /**
-   * The code that should be called every tick. This does the actual testing. Override me as
-   * necessary (but don't forget to call super!)
-   */
-  protected void periodic() {
-    for (T t : itemsToTest) {
-      // If there are run conditions
-      if (runConditions != null) {
-        // Run through all the run conditions and make sure they all return true
-        for (Function<T, Boolean> runCondition : runConditions) {
-          if (!runCondition.apply(t)) {
-            return;
-          }
-        }
-      }
-
-      this.storedResults.get(t).addResult(this.test.apply(t), System.currentTimeMillis());
-    }
-  }
-
-  @Override
-  public void run() {
-    while (true) {
-
-      if (running) {
-        periodic();
-      }
-
-      try {
-        Thread.sleep(updateDelay);
-      } catch (InterruptedException e) {
-        // End the thread
-        return;
-      }
-    }
-  }
-
-  /**
-   * A class for handling the storage of results. Basically just so the tail can actually be
-   * peeked at.
-   * @param <A> The returned type to store.
-   */
-  private class ResultStorage<A> {
-
-    @Nullable
-    private ResultWithMetadata<A> lastResult;
-    @NotNull
-    private EvictingQueue<ResultWithMetadata<A>> queuedResults;
-
-    private ResultStorage(int queueDepth) {
-      this.queuedResults = EvictingQueue.create(queueDepth);
-    }
-
-    private void addResult(A result, long timeStampMillis) {
-      ResultWithMetadata<A> resultWithMetadata = new ResultWithMetadata<>(result, timeStampMillis);
-      this.lastResult = resultWithMetadata;
-      queuedResults.add(resultWithMetadata);
-    }
-
-  }
-
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java b/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
deleted file mode 100644
index ef0be5ed..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
+++ /dev/null
@@ -1,32 +0,0 @@
-package org.team1540.rooster.testers;
-
-import org.jetbrains.annotations.NotNull;
-
-/**
- * Class for encapsulating results. Includes the result and a timestamp.
- *
- * @param <R> The result type.
- */
-public class ResultWithMetadata<R> {
-
-  @NotNull
-  private final R result;
-  private final long timestampMillis;
-
-  ResultWithMetadata(@NotNull R result, long timestampMillis) {
-    this.result = result;
-    this.timestampMillis = timestampMillis;
-  }
-
-  @SuppressWarnings("WeakerAccess")
-  @NotNull
-  public R getResult() {
-    return result;
-  }
-
-  @SuppressWarnings("unused")
-  public long getTimestampMillis() {
-    return timestampMillis;
-  }
-
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/Tester.java b/lib/src/main/java/org/team1540/rooster/testers/Tester.java
deleted file mode 100644
index 51e98dae..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/Tester.java
+++ /dev/null
@@ -1,91 +0,0 @@
-package org.team1540.rooster.testers;
-
-import com.google.common.collect.EvictingQueue;
-import java.util.List;
-import java.util.function.Function;
-import org.jetbrains.annotations.NotNull;
-import org.jetbrains.annotations.Nullable;
-
-/**
- * An interface for testing things.
- *
- * @param <T> The type of item being tested.
- * @param <R> The return type of the test results.
- */
-@SuppressWarnings("unused")
-public interface Tester<T, R> extends Runnable {
-
-  @NotNull
-  Function<T, R> getTest();
-
-  void setTest(@NotNull Function<T, R> tests);
-
-  /**
-   * Gets the conditions that must be met before the test will be executed on an item.
-   *
-   * @return An potentially {@link List} of the run conditions, or null if there are none (always
-   * execute.)
-   */
-  @SuppressWarnings("UnstableApiUsage")
-  @Nullable
-  List<Function<T, Boolean>> getRunConditions();
-
-  /**
-   * Sets the run conditions that must be met before the test will be executed on an item.
-   *
-   * @param runConditions A {@link List} of the run conditions, or null if the test should always
-   * run.
-   */
-  void setRunConditions(@Nullable List<Function<T, Boolean>> runConditions);
-
-  /**
-   * Gets the items that the tests are being applied to.
-   *
-   * @return An {@link EvictingQueue} of the items that are being tested.
-   */
-  @SuppressWarnings("UnstableApiUsage")
-  @NotNull // TODO how to annotate as unmodifiable?
-  List<T> getItemsToTest();
-
-  /**
-   * Get the results of the test being run.
-   *
-   * @param key The item to get the results for.
-   * @return An {@link EvictingQueue} of {@link ResultWithMetadata} that encapsulate the returned
-   * values.
-   */
-  @SuppressWarnings("UnstableApiUsage")
-  @NotNull
-  EvictingQueue<ResultWithMetadata<R>> getStoredResults(T key);
-
-  /**
-   * Gets the most recent result of the the test without impacting the stored results.
-   *
-   * @param key The item to get the results for.
-   * @return A {@link ResultWithMetadata} that encapsulate the returned value.
-   */
-  @Nullable
-  ResultWithMetadata<R> peekMostRecentResult(T key);
-
-  /**
-   * Gets the delay between the test being run on the items.
-   * @return The delay in milliseconds.
-   */
-  int getUpdateDelay();
-
-  /**
-   * Set the delay between the test being run on the items.
-   * @param delay The new delay in milliseconds.
-   * @return The previous delay in milliseconds.
-   */
-  @SuppressWarnings("UnusedReturnValue")
-  int setUpdateDelay(int delay);
-
-  /**
-   * Set if the tests should be running. Note that this does not stop the thread, only the actual
-   * execution of the tests.
-   * @param status The new status.
-   * @return The old status.
-   */
-  boolean setRunning(boolean status);
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
deleted file mode 100644
index 9ae39f9d..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
+++ /dev/null
@@ -1,174 +0,0 @@
-package org.team1540.rooster.testers.motor;
-
-import com.ctre.phoenix.motorcontrol.IMotorController;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import java.util.Arrays;
-import java.util.List;
-import java.util.Optional;
-import org.apache.commons.math3.stat.descriptive.moment.StandardDeviation;
-import org.apache.commons.math3.stat.descriptive.rank.Median;
-import org.team1540.rooster.testers.AbstractTester;
-import org.team1540.rooster.testers.ResultWithMetadata;
-
-/**
- * Reports motor burnouts by comparing the current draw across a series of similarly-purposed
- * motors and reporting low outliers or checking if a single motor is below the cutoff.
- */
-@SuppressWarnings("unused")
-public class BurnoutTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
-
-  private static final Median medianCalculator = new Median();
-  private static final StandardDeviation stdDevCalculator = new StandardDeviation();
-  private double medianCurrent = 0;
-  private double stdDevCurrent = 0;
-
-  private double currentCutoff = 1;
-  private double percentOutputCutoff = 0.5;
-
-  private String name = "BurnoutTester";
-
-  /**
-   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there is more
-   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there is
-   * one or few motors. Equivalent to {@link BurnoutTester#BurnoutTester(List) EncoderTester
-   * (Arrays.asList(motorsToTest))}.
-   *
-   * @param motorsToTest The motors to compare to each other.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public BurnoutTester(IMotorController... motorsToTest) {
-    this(Arrays.asList(motorsToTest));
-  }
-
-  /**
-   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there are more
-   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there two
-   * two or few motors.
-   *
-   * @param motorsToTest The motors to compare to each other.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public BurnoutTester(List<IMotorController> motorsToTest) {
-    // Because passing in a reference to a non-static method in the constructor doesn't work.
-    super((stupid) -> null, motorsToTest, null, 150, 500);
-    this.setTest(motorsToTest.size() > 2 ? this::testBurnoutMultiMotor :
-        this::testBurnoutSingleMotor);
-  }
-
-  /**
-   * Tests to see if a motor is burned out by checking to see if the current being drawn is at
-   * least one standard deviation below the median.
-   * @param controller The motor to test for burnout.
-   * @return Boolean indicating burnout.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutMultiMotor(IMotorController controller) {
-    return controller.getOutputCurrent() < (this.medianCurrent - 1 * this.stdDevCurrent);
-  }
-
-  /**
-   * Test to see if a motor is burned out by checking to see if the current being drawn is below
-   * the current cutoff.
-   *
-   * @param controller The motor to test for burnout.
-   * @return Boolean indicating burnout.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutSingleMotor(IMotorController controller) {
-    return controller.getMotorOutputPercent() > percentOutputCutoff
-        && controller.getOutputCurrent() < currentCutoff;
-  }
-
-  /**
-   * Gets the currents, calculates the median and standard deviation, then calls super.
-   */
-  @Override
-  protected void periodic() {
-    double[] currents = getItemsToTest().stream().mapToDouble(IMotorController::getOutputCurrent)
-        .toArray();
-    medianCurrent = medianCalculator.evaluate(currents);
-    stdDevCurrent = stdDevCalculator.evaluate(currents);
-    super.periodic();
-  }
-
-  @Override
-  public String getName() {
-    return this.name;
-  }
-
-  @Override
-  public void setName(String name) {
-    this.name = name;
-  }
-
-  @Override
-  public String getSubsystem() {
-    return this.name;
-  }
-
-  @Override
-  public void setSubsystem(String subsystem) {
-    this.name = subsystem;
-  }
-
-  /**
-   * Gets the current cutoff. Defaults to 1A.
-   *
-   * @return The current cutoff in amps.
-   */
-  public double getCurrentCutoff() {
-    return currentCutoff;
-  }
-
-  /**
-   * Sets the current cutoff.
-   *
-   * @param currentCutoff The current cutoff in amps.
-   */
-  public void setCurrentCutoff(double currentCutoff) {
-    this.currentCutoff = currentCutoff;
-  }
-
-  /**
-   * Gets the percent output cutoff. Defaults to 50%.
-   *
-   * @return The percent output cutoff as a percentage.
-   */
-  public double getPercentOutputCutoff() {
-    return percentOutputCutoff;
-  }
-
-  /**
-   * Sets the percent output cutoff.
-   *
-   * @param percentOutputCutoff The output cutoff as a percentage.
-   */
-  public void setPercentOutputCutoff(double percentOutputCutoff) {
-    this.percentOutputCutoff = percentOutputCutoff;
-  }
-
-  /**
-   * Displays the current status of each motor and the median current draw.
-   * @param builder The {@link SendableBuilder} to use.
-   */
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    //noinspection Duplicates
-    for (IMotorController t : getItemsToTest()) {
-      // Get the most recent value if present, else simply don't add it to the builder
-      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
-        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
-        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
-        if (result.isPresent()) {
-          return result.get().getResult();
-        } else {
-          return false;
-        }
-      }, null);
-    }
-    builder.addDoubleProperty("Median current", () -> medianCurrent, null);
-  }
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
deleted file mode 100644
index 14f12d0e..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
+++ /dev/null
@@ -1,207 +0,0 @@
-package org.team1540.rooster.testers.motor;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.IMotorController;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.github.oxo42.stateless4j.StateMachine;
-import com.github.oxo42.stateless4j.StateMachineConfig;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.command.Command;
-import java.util.LinkedList;
-import java.util.List;
-import java.util.function.Consumer;
-import org.team1540.rooster.testers.AbstractTester;
-import org.team1540.rooster.testers.ResultWithMetadata;
-import org.team1540.rooster.wrappers.ChickenTalon;
-
-/**
- * Simple automated testing for motors. Add the motors with the specified test using the builder
- * methods, then run the command.
- */
-public class ControllersMultiTester extends Command {
-
-  private Timer timer = new Timer();
-  private StateMachine<State, Trigger> stateMachine;
-  private List<TesterAndCommand> tests = new LinkedList<>();
-  private int index = 0;
-
-  /**
-   * Default constructor. Note that this class follows a builder pattern; use
-   * {@link #addControllerGroup(IMotorController...)} and
-   * {@link #addEncoderGroup(ChickenTalon...)} to add the motors.
-   */
-  public ControllersMultiTester() {
-    StateMachineConfig<State, Trigger> stateMachineConfig = new StateMachineConfig<>();
-    stateMachineConfig.configure(State.INITIALIZING)
-        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_UP);
-    stateMachineConfig.configure(State.SPIN_UP)
-        .permit(Trigger.TIME_HAS_PASSED, State.EXECUTING)
-        .onEntry(() -> {
-          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
-            tests.get(index).getFunction().accept(motor);
-          }
-        });
-    stateMachineConfig.configure(State.EXECUTING)
-        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_DOWN)
-        .onEntry(() -> new Thread(tests.get(index).getTest()).start())
-        .onExit(() -> tests.get(index).getTest().setRunning(false));
-    stateMachineConfig.configure(State.SPIN_DOWN)
-        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_UP)
-        .permit(Trigger.FINISHED, State.FINISHED)
-        .onEntry(() -> {
-          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
-            motor.set(ControlMode.PercentOutput, 0);
-          }
-          index++;
-        });
-    this.stateMachine = new StateMachine<>(State.INITIALIZING, stateMachineConfig);
-    this.stateMachine.setShouldLog(false);
-  }
-
-  /**
-   * Add a group of motors to test together with the default function (disables braking and sets
-   * the motors to full.) Currently uses only {@link BurnoutTester}.
-   *
-   * @param controllerGroup The motors to add.
-   * @return this
-   */
-  public ControllersMultiTester addControllerGroup(IMotorController... controllerGroup) {
-    addControllerGroup(this::setMotorToFull, controllerGroup);
-    return this;
-  }
-
-  /**
-   * Add a group of motors to test together with the specified function. Currently uses only
-   * {@link BurnoutTester}.
-   * @param function The function to apply before running the tests.
-   * @param controllerGroup The motors to add.
-   * @return this
-   */
-  @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
-  public ControllersMultiTester addControllerGroup(Consumer<IMotorController> function,
-      IMotorController... controllerGroup) {
-    tests.add(new TesterAndCommand(new BurnoutTester(controllerGroup), function));
-    return this;
-  }
-
-  /**
-   * Add a group of motors with encoders to test together with the default function (disables
-   * braking and sets the motors to full.) Currently uses only {@link EncoderTester}.
-   * @param controllerGroup The motors to add.
-   * @return this
-   */
-  public ControllersMultiTester addEncoderGroup(ChickenTalon... controllerGroup) {
-    addEncoderGroup(this::setMotorToFull, controllerGroup);
-    return this;
-  }
-
-  /**
-   * Add a group of motors with encoders to test together with the specified function. Currently
-   * uses only {@link EncoderTester}.
-   * @param function The function to apply before running the tests.
-   * @param controllerGroup The motors to add.
-   * @return this
-   */
-  @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
-  public ControllersMultiTester addEncoderGroup(Consumer<IMotorController> function,
-      ChickenTalon... controllerGroup) {
-    tests.add(new TesterAndCommand(new EncoderTester(controllerGroup), function));
-    return this;
-  }
-
-  @Override
-  protected void initialize() {
-    timer.reset();
-    timer.start();
-  }
-
-  @Override
-  protected void execute() {
-    if (stateMachine.getState().timeToComplete != null) {
-      if (timer.hasPeriodPassed(stateMachine.getState().getTimeToComplete())) {
-        if (index >= tests.size()) {
-          stateMachine.fire(Trigger.FINISHED);
-        } else {
-          stateMachine.fire(Trigger.TIME_HAS_PASSED);
-        }
-      }
-    }
-  }
-
-  @Override
-  protected void end() {
-    // Very optimized yes no duplicate code either
-    for (TesterAndCommand testerAndCommand : tests) {
-      for (IMotorController controller : testerAndCommand.getTest().getItemsToTest()) {
-        int failureCount = 0;
-        for (ResultWithMetadata<Boolean> result : testerAndCommand.getTest()
-            .getStoredResults(controller)) {
-          if (result.getResult().equals(Boolean.TRUE)) {
-            failureCount++;
-          }
-        }
-        if (failureCount > 0) {
-          DriverStation
-              .reportError("Motor " + controller.getDeviceID() + " reported " + failureCount +
-                  " failures of type " + testerAndCommand.getTest(), false);
-        }
-      }
-    }
-    System.out.println("Finished testing");
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return stateMachine.getState().equals(State.FINISHED);
-  }
-
-  private void setMotorToFull(IMotorController motor) {
-    motor.setNeutralMode(NeutralMode.Coast);
-    motor.set(ControlMode.PercentOutput, 1.0);
-  }
-
-  private enum State {
-    INITIALIZING(0), SPIN_UP(0.25), EXECUTING(1), SPIN_DOWN(0), FINISHED;
-
-    private final Double timeToComplete;
-
-    State() {
-      this.timeToComplete = null;
-    }
-
-    State(double timeToComplete) {
-      this.timeToComplete = timeToComplete;
-    }
-
-    public Double getTimeToComplete() {
-      return timeToComplete;
-    }
-  }
-
-  private enum Trigger {
-    TIME_HAS_PASSED, FINISHED
-  }
-
-  private class TesterAndCommand {
-
-    private AbstractTester<IMotorController, Boolean> test;
-    private Consumer<IMotorController> function;
-
-    private TesterAndCommand(
-        AbstractTester<IMotorController, Boolean> test,
-        Consumer<IMotorController> function) {
-      this.test = test;
-      this.function = function;
-    }
-
-    private AbstractTester<IMotorController, Boolean> getTest() {
-      return test;
-    }
-
-    private Consumer<IMotorController> getFunction() {
-      return function;
-    }
-  }
-
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
deleted file mode 100644
index f3dcc8e0..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
+++ /dev/null
@@ -1,145 +0,0 @@
-package org.team1540.rooster.testers.motor;
-
-import com.ctre.phoenix.motorcontrol.IMotorController;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-import java.util.Optional;
-import org.team1540.rooster.testers.AbstractTester;
-import org.team1540.rooster.testers.ResultWithMetadata;
-
-/**
- * Reports if an encoder appears to be non-functional by checking to see if a motor is running
- * and if the corresponding encoder is moving.
- */
-@SuppressWarnings("unused")
-public class EncoderTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
-
-  private String name = "EncoderTester";
-
-  private double currentThreshold = 1;
-  private double velocityThreshold = 5;
-
-  /**
-   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms. Equivalent to {@link EncoderTester#EncoderTester(List) EncoderTester(Arrays.asList
-   * (motorsToTest))}.
-   *
-   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public EncoderTester(IMotorController... motorsToTest) {
-    this(Arrays.asList(motorsToTest));
-  }
-
-  /**
-   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500 ms.
-   *
-   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public EncoderTester(List<IMotorController> motorsToTest) {
-    // Because passing in a reference to a non-static method in the constructor doesn't work.
-    // Test will run if the motor is drawing over 1A of current.
-    super((stupid) -> null, motorsToTest, null, 150, 500);
-    this.setTest(this::testEncoder);
-    this.setRunConditions(
-        Collections.singletonList((motor) -> (motor).getOutputCurrent() > currentThreshold));
-  }
-
-  /**
-   * Tests to see if the encoder is working by checking to see if the controller is drawing more
-   * than 1 amp and if the selected {@link IMotorController} is moving at a velocity of less than 5.
-   *
-   * @param controller The {@link IMotorController} to test for burnout.
-   * @return Boolean indicating if the encoder is encoder has failed: true if it is suspected
-   * of failure, false if it is not suspected of failure.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public Boolean testEncoder(IMotorController controller) {
-    // Do the wrappers provide pidIdx nicely? Yes. Can we just use zero? Also probably yes.
-    return controller.getOutputCurrent() > currentThreshold
-        && Math.abs(controller.getSelectedSensorVelocity(0)) < velocityThreshold;
-  }
-
-  @Override
-  public String getName() {
-    return this.name;
-  }
-
-  @Override
-  public void setName(String name) {
-    this.name = name;
-  }
-
-  @Override
-  public String getSubsystem() {
-    return this.name;
-  }
-
-  @Override
-  public void setSubsystem(String subsystem) {
-    this.name = subsystem;
-  }
-
-  /**
-   * Gets the threshold under which a motor will not be tested for movement. Defaults to 1A.
-   *
-   * @return A double representing the current in amps.
-   */
-  public double getCurrentThreshold() {
-    return currentThreshold;
-  }
-
-  /**
-   * Sets the threshold under which a motor will not be tested for movement
-   *
-   * @param currentThreshold A double representing the current in amps.
-   */
-  public void setCurrentThreshold(double currentThreshold) {
-    this.currentThreshold = currentThreshold;
-  }
-
-  /**
-   * Gets the encoder velocity under which an encoder failure will be reported. Defaults to 5.
-   *
-   * @return A double representing the velocity in whatever units are set.
-   */
-  public double getVelocityThreshold() {
-    return velocityThreshold;
-  }
-
-  /**
-   * Sets the encoder velocity under which an encoder failure will be reported.
-   *
-   * @param velocityThreshold A double representing the velocity in whatever units are set.
-   */
-  public void setVelocityThreshold(double velocityThreshold) {
-    this.velocityThreshold = velocityThreshold;
-  }
-
-  /**
-   * Displays the current status of each {@link IMotorController}.
-   *
-   * @param builder The {@link SendableBuilder} to use.
-   */
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    //noinspection Duplicates
-    for (IMotorController t : getItemsToTest()) {
-      // Get the most recent value if present, else simply don't add it to the builder
-      //noinspection Duplicates
-      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
-        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
-        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
-        if (result.isPresent()) {
-          return result.get().getResult();
-        } else {
-          return false;
-        }
-      }, null);
-    }
-  }
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
deleted file mode 100644
index 95cc63d0..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
+++ /dev/null
@@ -1,159 +0,0 @@
-package org.team1540.rooster.testers.motor;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.IMotorController;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import java.util.NavigableMap;
-import java.util.Optional;
-import java.util.TreeMap;
-import org.team1540.rooster.util.SimpleCommand;
-
-/**
- * A simple command for testing a series of {@link IMotorController IMotorControllers}. Simply
- * add the controllers, specify control bindings or use the defaults, and you're ready! Select
- * the motor in the SmartDashboard or move next/previous with buttons and control the percent
- * output of the motor with a joystick axis.
- */
-public class SimpleControllersTester extends Command implements Sendable {
-
-  private static final int DEFAULT_JOYSTICK_ID = 0;
-  private static final int DEFAULT_AXIS_ID = 5;
-  private static final int DEFAULT_NEXT_BUTTON_ID = 1;
-  private static final int DEFAULT_PREVIOUS_BUTTON_ID = 2;
-
-  private Joystick joystick;
-  private int axisId;
-
-  // Is the retrieval time poor, despite the need for a lot of retrievals? Yes. Are we ignoring that
-  // because the size of the map is small? Also yes.
-  private NavigableMap<Integer, IMotorController> controllers = new TreeMap<>();
-
-  // Do not manually update this value. Instead, call setCurrentController()
-  private IMotorController currentController;
-
-  private SendableChooser<Integer> controllerChooser = new SendableChooser<>();
-
-  /**
-   * Construct a new instance with the default bindings on {@link Joystick} 0. On an Xbox
-   * controller, the right thumbstick y-axis controls {@link ControlMode}.PERCENT_OUTPUT, the A
-   * button goes to the next {@link IMotorController}, and the B button goes to the previous
-   * {@link IMotorController}.
-   *
-   * @param controllers The {@link IMotorController IMotorControllers} to test.
-   */
-  public SimpleControllersTester(IMotorController... controllers) {
-    this(new Joystick(DEFAULT_JOYSTICK_ID), DEFAULT_AXIS_ID, DEFAULT_NEXT_BUTTON_ID,
-        DEFAULT_PREVIOUS_BUTTON_ID, controllers);
-  }
-
-  /**
-   * Construct a new instance with the specified bindings.
-   * @param joystick The joystick port to use.
-   * @param axisId The axis on the joystick to use.
-   * @param nextButtonId The button to use to proceed to the next {@link IMotorController}.
-   * @param previousButtonId The button to use to proceed to the nex {@link IMotorController}.
-   * @param controllers The {@link IMotorController IMotorControllers} to test.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public SimpleControllersTester(Joystick joystick, int axisId, int nextButtonId,
-      int previousButtonId,
-      IMotorController... controllers) {
-    this.joystick = joystick;
-    this.axisId = axisId;
-
-    // Make the buttons go the next and previous controller, or loop around if not available
-    new JoystickButton(this.joystick, nextButtonId).whenPressed(new SimpleCommand("Next "
-        + "controller ID",
-        () -> setCurrentController(
-            Optional.ofNullable(this.controllers.higherKey(this.currentController.getDeviceID()))
-                .orElse(this.controllers.firstKey()))));
-    new JoystickButton(this.joystick, previousButtonId).whenPressed(new SimpleCommand("Previous "
-        + "controller ID",
-        () -> setCurrentController(
-            Optional.ofNullable(this.controllers.lowerKey(this.currentController.getDeviceID()))
-                .orElse(this.controllers.lastKey()))));
-
-    // Add a chooser that you can use to select the controller and initialize it to null,
-    // corresponding with buttons should be used
-    this.controllerChooser.addObject("Use buttons", null);
-    for (IMotorController controller : controllers) {
-      this.controllers.put(controller.getDeviceID(), controller);
-      this.controllerChooser.addObject(String.valueOf(controller.getDeviceID()),
-          controller.getDeviceID());
-      controller.setNeutralMode(NeutralMode.Coast);
-    }
-
-    // Set the active controller to the first controller
-    setCurrentController(controllers[0].getDeviceID());
-  }
-
-  /**
-   * Checks every tick if the chooser is set to a controller or to use buttons, then sets the
-   * output according to the value of the active joystick.
-   */
-  @Override
-  protected void execute() {
-    if (controllerChooser.getSelected() != null) {
-      setCurrentController(controllerChooser.getSelected());
-    }
-    currentController.set(ControlMode.PercentOutput, joystick.getRawAxis(axisId));
-  }
-
-  /**
-   * Updates the currently active {@link IMotorController}.
-   * @param newId The ID of the new {@link IMotorController}.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public void setCurrentController(int newId) {
-    if (currentController != null) {
-      currentController.set(ControlMode.PercentOutput, 0);
-    }
-    currentController = controllers.get(newId);
-  }
-
-  /**
-   * Prevents the command from finishing.
-   * @return false.
-   */
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  /**
-   * Gets the chooser used for selecting the current {@link IMotorController}.
-   * @return A chooser.
-   */
-  @SuppressWarnings("WeakerAccess")
-  public SendableChooser<Integer> getControllerChooser() {
-    return controllerChooser;
-  }
-
-  /**
-   * Adds a single property showing the current active controller.
-   * @param builder The thing to add the things to.
-   */
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.addDoubleProperty("Controller ID", () -> this.currentController.getDeviceID(),
-        (id) -> setCurrentController((int) id));
-  }
-
-  /**
-   * Add all the sendables to the {@link SmartDashboard}. Includes chooser for selecting the
-   * active {@link IMotorController} and information about the tester.
-   */
-  public void addAllSendables() {
-    SmartDashboard.putData("Controller tester info", this);
-    SmartDashboard.putData("Controller choose", getControllerChooser());
-  }
-
-
-}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/package-info.java b/lib/src/main/java/org/team1540/rooster/testers/package-info.java
deleted file mode 100644
index 33dbb24a..00000000
--- a/lib/src/main/java/org/team1540/rooster/testers/package-info.java
+++ /dev/null
@@ -1,4 +0,0 @@
-/**
- * Various classes for testing common things.
- */
-package org.team1540.rooster.testers;
diff --git a/settings.gradle b/settings.gradle
index b76d609c..7a8dfca1 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,4 +1 @@
 rootProject.name = 'ROOSTER'
-
-include 'lib'
-include 'test'
diff --git a/lib/src/main/java/org/team1540/rooster/ChickenSubsystem.java b/src/main/java/org/team1540/rooster/ChickenSubsystem.java
similarity index 99%
rename from lib/src/main/java/org/team1540/rooster/ChickenSubsystem.java
rename to src/main/java/org/team1540/rooster/ChickenSubsystem.java
index 2b106f66..f7140b23 100644
--- a/lib/src/main/java/org/team1540/rooster/ChickenSubsystem.java
+++ b/src/main/java/org/team1540/rooster/ChickenSubsystem.java
@@ -37,7 +37,7 @@ public double getCurrent() {
       double sum = 0;
       for (ChickenController motor : motors.keySet()) {
         if (motor instanceof ChickenTalon) {
-          sum += motor.getOutputCurrent();
+          sum += ((ChickenTalon) motor).getOutputCurrent();
         }
       }
       return sum;
diff --git a/lib/src/main/java/org/team1540/rooster/Utilities.java b/src/main/java/org/team1540/rooster/Utilities.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/Utilities.java
rename to src/main/java/org/team1540/rooster/Utilities.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/AdjustableManager.java b/src/main/java/org/team1540/rooster/adjustables/AdjustableManager.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/AdjustableManager.java
rename to src/main/java/org/team1540/rooster/adjustables/AdjustableManager.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/SmartDashboardGet.java b/src/main/java/org/team1540/rooster/adjustables/SmartDashboardGet.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/SmartDashboardGet.java
rename to src/main/java/org/team1540/rooster/adjustables/SmartDashboardGet.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/SmartDashboardPut.java b/src/main/java/org/team1540/rooster/adjustables/SmartDashboardPut.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/SmartDashboardPut.java
rename to src/main/java/org/team1540/rooster/adjustables/SmartDashboardPut.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/Telemetry.java b/src/main/java/org/team1540/rooster/adjustables/Telemetry.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/Telemetry.java
rename to src/main/java/org/team1540/rooster/adjustables/Telemetry.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/TelemetryType.java b/src/main/java/org/team1540/rooster/adjustables/TelemetryType.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/TelemetryType.java
rename to src/main/java/org/team1540/rooster/adjustables/TelemetryType.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/Tunable.java b/src/main/java/org/team1540/rooster/adjustables/Tunable.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/Tunable.java
rename to src/main/java/org/team1540/rooster/adjustables/Tunable.java
diff --git a/lib/src/main/java/org/team1540/rooster/adjustables/TunableType.java b/src/main/java/org/team1540/rooster/adjustables/TunableType.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/adjustables/TunableType.java
rename to src/main/java/org/team1540/rooster/adjustables/TunableType.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/JoystickScaling.java b/src/main/java/org/team1540/rooster/drive/JoystickScaling.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/JoystickScaling.java
rename to src/main/java/org/team1540/rooster/drive/JoystickScaling.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/NoJoystickScaling.java b/src/main/java/org/team1540/rooster/drive/NoJoystickScaling.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/NoJoystickScaling.java
rename to src/main/java/org/team1540/rooster/drive/NoJoystickScaling.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/PidDrive.java b/src/main/java/org/team1540/rooster/drive/PidDrive.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/PidDrive.java
rename to src/main/java/org/team1540/rooster/drive/PidDrive.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/PidDriveConfiguration.java b/src/main/java/org/team1540/rooster/drive/PidDriveConfiguration.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/PidDriveConfiguration.java
rename to src/main/java/org/team1540/rooster/drive/PidDriveConfiguration.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/PidDriveFactory.java b/src/main/java/org/team1540/rooster/drive/PidDriveFactory.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/PidDriveFactory.java
rename to src/main/java/org/team1540/rooster/drive/PidDriveFactory.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/PowerJoystickScaling.java b/src/main/java/org/team1540/rooster/drive/PowerJoystickScaling.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/PowerJoystickScaling.java
rename to src/main/java/org/team1540/rooster/drive/PowerJoystickScaling.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/package-info.java b/src/main/java/org/team1540/rooster/drive/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/package-info.java
rename to src/main/java/org/team1540/rooster/drive/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/AdvancedArcadeJoystickInput.java b/src/main/java/org/team1540/rooster/drive/pipeline/AdvancedArcadeJoystickInput.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/AdvancedArcadeJoystickInput.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/AdvancedArcadeJoystickInput.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/CTREOutput.java b/src/main/java/org/team1540/rooster/drive/pipeline/CTREOutput.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/CTREOutput.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/CTREOutput.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/DriveData.java b/src/main/java/org/team1540/rooster/drive/pipeline/DriveData.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/DriveData.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/DriveData.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/FeedForwardProcessor.java b/src/main/java/org/team1540/rooster/drive/pipeline/FeedForwardProcessor.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/FeedForwardProcessor.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/FeedForwardProcessor.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/Input.java b/src/main/java/org/team1540/rooster/drive/pipeline/Input.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/Input.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/Input.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/Output.java b/src/main/java/org/team1540/rooster/drive/pipeline/Output.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/Output.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/Output.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/Processor.java b/src/main/java/org/team1540/rooster/drive/pipeline/Processor.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/Processor.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/Processor.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/SimpleJoystickInput.java b/src/main/java/org/team1540/rooster/drive/pipeline/SimpleJoystickInput.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/SimpleJoystickInput.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/SimpleJoystickInput.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/TankDriveData.java b/src/main/java/org/team1540/rooster/drive/pipeline/TankDriveData.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/TankDriveData.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/TankDriveData.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/UnitScaler.java b/src/main/java/org/team1540/rooster/drive/pipeline/UnitScaler.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/UnitScaler.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/UnitScaler.java
diff --git a/lib/src/main/java/org/team1540/rooster/drive/pipeline/package-info.java b/src/main/java/org/team1540/rooster/drive/pipeline/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/drive/pipeline/package-info.java
rename to src/main/java/org/team1540/rooster/drive/pipeline/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/motionprofiling/MotionProfilingProperties.java b/src/main/java/org/team1540/rooster/motionprofiling/MotionProfilingProperties.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/motionprofiling/MotionProfilingProperties.java
rename to src/main/java/org/team1540/rooster/motionprofiling/MotionProfilingProperties.java
diff --git a/lib/src/main/java/org/team1540/rooster/motionprofiling/RunMotionProfiles.java b/src/main/java/org/team1540/rooster/motionprofiling/RunMotionProfiles.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/motionprofiling/RunMotionProfiles.java
rename to src/main/java/org/team1540/rooster/motionprofiling/RunMotionProfiles.java
diff --git a/lib/src/main/java/org/team1540/rooster/power/PowerManageable.java b/src/main/java/org/team1540/rooster/power/PowerManageable.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/power/PowerManageable.java
rename to src/main/java/org/team1540/rooster/power/PowerManageable.java
diff --git a/lib/src/main/java/org/team1540/rooster/power/PowerManager.java b/src/main/java/org/team1540/rooster/power/PowerManager.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/power/PowerManager.java
rename to src/main/java/org/team1540/rooster/power/PowerManager.java
diff --git a/lib/src/main/java/org/team1540/rooster/power/PowerTelemetry.java b/src/main/java/org/team1540/rooster/power/PowerTelemetry.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/power/PowerTelemetry.java
rename to src/main/java/org/team1540/rooster/power/PowerTelemetry.java
diff --git a/lib/src/main/java/org/team1540/rooster/power/package-info.java b/src/main/java/org/team1540/rooster/power/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/power/package-info.java
rename to src/main/java/org/team1540/rooster/power/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/preferencemanager/Preference.java b/src/main/java/org/team1540/rooster/preferencemanager/Preference.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/preferencemanager/Preference.java
rename to src/main/java/org/team1540/rooster/preferencemanager/Preference.java
diff --git a/lib/src/main/java/org/team1540/rooster/preferencemanager/PreferenceManager.java b/src/main/java/org/team1540/rooster/preferencemanager/PreferenceManager.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/preferencemanager/PreferenceManager.java
rename to src/main/java/org/team1540/rooster/preferencemanager/PreferenceManager.java
diff --git a/lib/src/main/java/org/team1540/rooster/preferencemanager/TuningClass.java b/src/main/java/org/team1540/rooster/preferencemanager/TuningClass.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/preferencemanager/TuningClass.java
rename to src/main/java/org/team1540/rooster/preferencemanager/TuningClass.java
diff --git a/lib/src/main/java/org/team1540/rooster/preferencemanager/package-info.java b/src/main/java/org/team1540/rooster/preferencemanager/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/preferencemanager/package-info.java
rename to src/main/java/org/team1540/rooster/preferencemanager/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/AxisButton.java b/src/main/java/org/team1540/rooster/triggers/AxisButton.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/AxisButton.java
rename to src/main/java/org/team1540/rooster/triggers/AxisButton.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/DPadAxis.java b/src/main/java/org/team1540/rooster/triggers/DPadAxis.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/DPadAxis.java
rename to src/main/java/org/team1540/rooster/triggers/DPadAxis.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/DPadButton.java b/src/main/java/org/team1540/rooster/triggers/DPadButton.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/DPadButton.java
rename to src/main/java/org/team1540/rooster/triggers/DPadButton.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/SimpleButton.java b/src/main/java/org/team1540/rooster/triggers/SimpleButton.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/SimpleButton.java
rename to src/main/java/org/team1540/rooster/triggers/SimpleButton.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/StrictDPadButton.java b/src/main/java/org/team1540/rooster/triggers/StrictDPadButton.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/StrictDPadButton.java
rename to src/main/java/org/team1540/rooster/triggers/StrictDPadButton.java
diff --git a/lib/src/main/java/org/team1540/rooster/triggers/package-info.java b/src/main/java/org/team1540/rooster/triggers/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/triggers/package-info.java
rename to src/main/java/org/team1540/rooster/triggers/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/AsyncCommand.java b/src/main/java/org/team1540/rooster/util/AsyncCommand.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/AsyncCommand.java
rename to src/main/java/org/team1540/rooster/util/AsyncCommand.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/DashboardUtils.java b/src/main/java/org/team1540/rooster/util/DashboardUtils.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/DashboardUtils.java
rename to src/main/java/org/team1540/rooster/util/DashboardUtils.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/Executable.java b/src/main/java/org/team1540/rooster/util/Executable.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/Executable.java
rename to src/main/java/org/team1540/rooster/util/Executable.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/SimpleAsyncCommand.java b/src/main/java/org/team1540/rooster/util/SimpleAsyncCommand.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/SimpleAsyncCommand.java
rename to src/main/java/org/team1540/rooster/util/SimpleAsyncCommand.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/SimpleCommand.java b/src/main/java/org/team1540/rooster/util/SimpleCommand.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/SimpleCommand.java
rename to src/main/java/org/team1540/rooster/util/SimpleCommand.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/SimpleConditionalCommand.java b/src/main/java/org/team1540/rooster/util/SimpleConditionalCommand.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/SimpleConditionalCommand.java
rename to src/main/java/org/team1540/rooster/util/SimpleConditionalCommand.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/SimpleLoopCommand.java b/src/main/java/org/team1540/rooster/util/SimpleLoopCommand.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/SimpleLoopCommand.java
rename to src/main/java/org/team1540/rooster/util/SimpleLoopCommand.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/package-info.java b/src/main/java/org/team1540/rooster/util/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/package-info.java
rename to src/main/java/org/team1540/rooster/util/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/robots/PIDTuningRobot.java b/src/main/java/org/team1540/rooster/util/robots/PIDTuningRobot.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/robots/PIDTuningRobot.java
rename to src/main/java/org/team1540/rooster/util/robots/PIDTuningRobot.java
diff --git a/lib/src/main/java/org/team1540/rooster/util/robots/package-info.java b/src/main/java/org/team1540/rooster/util/robots/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/util/robots/package-info.java
rename to src/main/java/org/team1540/rooster/util/robots/package-info.java
diff --git a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenController.java b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
similarity index 99%
rename from lib/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
rename to src/main/java/org/team1540/rooster/wrappers/ChickenController.java
index a3bbcf73..06aa9b91 100644
--- a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
@@ -508,14 +508,14 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    *
    * @return Position of selected sensor in raw sensor units per decisecond.
    */
-  double getSelectedSensorPosition();
+  int getSelectedSensorPosition();
 
   /**
    * Get the selected sensor velocity.
    *
    * @return Velocity of selected sensor in raw sensor units per decisecond.
    */
-  double getSelectedSensorVelocity();
+  int getSelectedSensorVelocity();
 
   int getStatusFramePeriod(StatusFrameEnhanced frame);
 
diff --git a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java b/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
similarity index 99%
rename from lib/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
rename to src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
index c96fbb44..b46a851a 100644
--- a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
@@ -721,7 +721,7 @@ public int getQuadratureVelocity() {
    * @return Position of selected sensor in raw sensor units per decisecond.
    */
   @Override
-  public double getSelectedSensorPosition() {
+  public int getSelectedSensorPosition() {
     return super.getSelectedSensorPosition(defaultPidIdx);
   }
 
@@ -731,7 +731,7 @@ public double getSelectedSensorPosition() {
    * @return Velocity of selected sensor in raw sensor units per decisecond.
    */
   @Override
-  public double getSelectedSensorVelocity() {
+  public int getSelectedSensorVelocity() {
     return super.getSelectedSensorVelocity(defaultPidIdx);
   }
 
diff --git a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
similarity index 78%
rename from lib/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
rename to src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
index d0ae38a4..335d8b8c 100644
--- a/lib/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
@@ -16,7 +16,7 @@
 import com.ctre.phoenix.motorcontrol.can.MotControllerJNI;
 import com.ctre.phoenix.motorcontrol.can.VictorSPX;
 
-public class ChickenVictor extends VictorSPX implements ChickenController {
+public class ChickenVictor extends VictorSPX {
 
   ControlMode controlMode = ControlMode.PercentOutput;
   int defaultPidIdx = 0;
@@ -28,440 +28,287 @@ public ChickenVictor(int deviceNumber) {
     super(deviceNumber);
   }
 
-  @Override
   public ErrorCode clearMotionProfileHasUnderrun() {
     return super.clearMotionProfileHasUnderrun(defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode clearStickyFaults() {
     return super.clearStickyFaults(defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configAllowableClosedloopError(int slotIdx, int allowableClosedLoopError) {
     return super
         .configAllowableClosedloopError(slotIdx, allowableClosedLoopError, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configClosedloopRamp(double secondsFromNeutralToFull) {
     return super.configClosedloopRamp(secondsFromNeutralToFull, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configOpenloopRamp(double secondsFromNeutralToFull) {
     return super.configOpenloopRamp(secondsFromNeutralToFull, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configForwardLimitSwitchSource(LimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose) {
     return super.configForwardLimitSwitchSource(type, normalOpenOrClose, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configForwardLimitSwitchSource(RemoteLimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose, int deviceID) {
     return super
         .configForwardLimitSwitchSource(type, normalOpenOrClose, deviceID, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configForwardSoftLimitEnable(boolean enable) {
     return super.configForwardSoftLimitEnable(enable, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configForwardSoftLimitThreshold(int forwardSensorLimit) {
     return super.configForwardSoftLimitThreshold(forwardSensorLimit, defaultTimeoutMs);
   }
 
-  @Override
   public int configGetCustomParam(int paramIndex) {
     return super.configGetCustomParam(paramIndex, defaultTimeoutMs);
   }
 
-  @Override
   public double configGetParameter(ParamEnum param, int ordinal) {
     return super.configGetParameter(param, ordinal, defaultTimeoutMs);
   }
 
-  @Override
   public double configGetParameter(int param, int ordinal) {
     return super.configGetParameter(param, ordinal, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configMaxIntegralAccumulator(int slotIdx, double iaccum) {
     return super.configMaxIntegralAccumulator(slotIdx, iaccum, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configMotionAcceleration(int sensorUnitsPer100msPerSec) {
     return super.configMotionAcceleration(sensorUnitsPer100msPerSec, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configMotionCruiseVelocity(int sensorUnitsPer100ms) {
     return super.configMotionCruiseVelocity(sensorUnitsPer100ms, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configNeutralDeadband(double percentDeadband) {
     return super.configNeutralDeadband(percentDeadband, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configNominalOutputForward(double percentOut) {
     return super.configNominalOutputForward(percentOut, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configNominalOutputReverse(double percentOut) {
     return super.configNominalOutputReverse(percentOut, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configPeakOutputForward(double percentOut) {
     peakOutputForward = percentOut;
     return super.configPeakOutputForward(percentOut, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configPeakOutputReverse(double percentOut) {
     peakOutputReverse = percentOut;
     return super.configPeakOutputReverse(percentOut, defaultTimeoutMs);
   }
 
-  @Override
   public double getPeakOutputForward() {
     return peakOutputForward;
   }
 
-  @Override
   public double getPeakOutputReverse() {
     return peakOutputReverse;
   }
 
-  @Override
   public ErrorCode configRemoteFeedbackFilter(int deviceID, RemoteSensorSource remoteSensorSource,
       int remoteOrdinal) {
     return super
         .configRemoteFeedbackFilter(deviceID, remoteSensorSource, remoteOrdinal, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose, int deviceID) {
     return super
         .configReverseLimitSwitchSource(type, normalOpenOrClose, deviceID, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configReverseSoftLimitEnable(boolean enable) {
     return super.configReverseSoftLimitEnable(enable, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configReverseSoftLimitThreshold(int reverseSensorLimit) {
     return super.configReverseSoftLimitThreshold(reverseSensorLimit, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx) {
     return super.configSelectedFeedbackSensor(feedbackDevice, pidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice) {
     return super.configSelectedFeedbackSensor(feedbackDevice, defaultPidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx) {
     return super.configSelectedFeedbackSensor(feedbackDevice, pidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice) {
     return super.configSelectedFeedbackSensor(feedbackDevice, defaultPidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice) {
     return super.configSensorTerm(sensorTerm, feedbackDevice, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSetCustomParam(int newValue, int paramIndex) {
     return super.configSetCustomParam(newValue, paramIndex, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal) {
     return super.configSetParameter(param, value, subValue, ordinal, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configSetParameter(int param, double value, int subValue, int ordinal) {
     return super.configSetParameter(param, value, subValue, ordinal, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configVelocityMeasurementPeriod(int period) {
     int retval = MotControllerJNI
         .ConfigVelocityMeasurementPeriod(m_handle, period, defaultTimeoutMs);
     return ErrorCode.valueOf(retval);
   }
 
-  @Override
   public ErrorCode configVelocityMeasurementWindow(int windowSize) {
     return super.configVelocityMeasurementWindow(windowSize, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configVoltageCompSaturation(double voltage) {
     return super.configVoltageCompSaturation(voltage, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode configVoltageMeasurementFilter(int filterWindowSamples) {
     return super.configVoltageMeasurementFilter(filterWindowSamples, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode config_IntegralZone(int slotIdx, int izone) {
     return super.config_IntegralZone(slotIdx, izone, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode config_kD(int slotIdx, double value) {
     return super.config_kD(slotIdx, value, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode config_kF(int slotIdx, double value) {
     return super.config_kF(slotIdx, value, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode config_kI(int slotIdx, double value) {
     return super.config_kI(slotIdx, value, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode config_kP(int slotIdx, double value) {
     return super.config_kP(slotIdx, value, defaultTimeoutMs);
   }
 
-  @Override
-  public int getAnalogIn() {
-    return getSensorCollection().getAnalogIn();
-  }
-
-  @Override
-  public int getAnalogInRaw() {
-    return getSensorCollection().getAnalogInRaw();
-  }
-
-  @Override
-  public int getAnalogInVel() {
-    return getSensorCollection().getAnalogInVel();
-  }
-
-  @Override
   public int getClosedLoopError() {
     return super.getClosedLoopError(defaultPidIdx);
   }
 
-  @Override
   public ControlMode getControlMode() {
     return controlMode;
   }
 
-  @Override
   public void setControlMode(ControlMode controlMode) {
     this.controlMode = controlMode;
   }
 
-  @Override
   public int getDefaultPidIdx() {
     return defaultPidIdx;
   }
 
-  @Override
   public void setDefaultPidIdx(int defaultPidIdx) {
     this.defaultPidIdx = defaultPidIdx;
   }
 
-  @Override
   public int getDefaultTimeoutMs() {
     return defaultTimeoutMs;
   }
 
-  @Override
   public void setDefaultTimeoutMs(int defaultTimeoutMs) {
     this.defaultTimeoutMs = defaultTimeoutMs;
   }
 
-  @Override
   @Deprecated
   public double getEncoderCodesPerRev() {
     return 0;
   }
 
-  @Override
   @Deprecated
   public void setEncoderCodesPerRev(double encoderCodesPerRev) {
   }
 
-  @Override
   public double getErrorDerivative() {
     return super.getErrorDerivative(defaultPidIdx);
   }
 
-  @Override
   public double getIntegralAccumulator() {
     return super.getIntegralAccumulator(defaultPidIdx);
   }
 
-  @Override
-  public boolean getPinStateQuadA() {
-    return getSensorCollection().getPinStateQuadA();
-  }
-
-  @Override
-  public boolean getPinStateQuadB() {
-    return getSensorCollection().getPinStateQuadB();
-  }
-
-  @Override
-  public boolean getPinStateQuadIdx() {
-    return getSensorCollection().getPinStateQuadIdx();
-  }
-
-  @Override
-  public int getPulseWidthPosition() {
-    return getSensorCollection().getPulseWidthPosition();
-  }
-
-  @Override
-  public int getPulseWidthRiseToFallUs() {
-    return getSensorCollection().getPulseWidthRiseToFallUs();
-  }
-
-  @Override
-  public int getPulseWidthRiseToRiseUs() {
-    return getSensorCollection().getPulseWidthRiseToRiseUs();
-  }
-
-  @Override
-  public int getPulseWidthVelocity() {
-    return getSensorCollection().getPulseWidthVelocity();
-  }
-
-  @Override
-  public int getQuadraturePosition() {
-    return getSensorCollection().getQuadraturePosition();
-  }
-
-  @Override
-  public int getQuadratureVelocity() {
-    return getSensorCollection().getQuadratureVelocity();
-  }
-
-  @Override
-  public double getSelectedSensorPosition() {
+  public int getSelectedSensorPosition() {
     return super.getSelectedSensorPosition(defaultPidIdx);
   }
 
-  @Override
-  public double getSelectedSensorVelocity() {
+  public int getSelectedSensorVelocity() {
     return super.getSelectedSensorVelocity(defaultPidIdx);
   }
 
-  @Override
   public int getStatusFramePeriod(StatusFrameEnhanced frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
-  @Override
   public int getStatusFramePeriod(int frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
-  @Override
   public int getStatusFramePeriod(StatusFrame frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
-  @Override
-  public boolean isFwdLimitSwitchClosed() {
-    return getSensorCollection().isFwdLimitSwitchClosed();
-  }
-
-  @Override
-  public boolean isRevLimitSwitchClosed() {
-    return getSensorCollection().isRevLimitSwitchClosed();
-  }
-
-  @Override
   public void selectProfileSlot(int slotIdx) {
     super.selectProfileSlot(slotIdx, defaultPidIdx);
   }
 
-  @Override
   public void set(double outputValue) {
     super.set(controlMode, outputValue);
   }
 
-  @Override
-  public ErrorCode setAnalogPosition(int newPosition) {
-    return getSensorCollection().setAnalogPosition(newPosition, defaultTimeoutMs);
-  }
-
-  @Override
   public void setBrake(boolean brake) {
     super.setNeutralMode(brake ? NeutralMode.Brake : NeutralMode.Coast);
   }
 
-  @Override
   public ErrorCode setIntegralAccumulator(double iaccum, int pidIdx) {
     return super.setIntegralAccumulator(iaccum, pidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode setIntegralAccumulator(double iaccum) {
     return super.setIntegralAccumulator(iaccum, defaultPidIdx, defaultTimeoutMs);
   }
 
-  @Override
-  public ErrorCode setPulseWidthPosition(int newPosition) {
-    return getSensorCollection().setPulseWidthPosition(newPosition, defaultTimeoutMs);
-  }
-
-  @Override
-  public ErrorCode setQuadraturePosition(int newPosition) {
-    return getSensorCollection().setQuadraturePosition(newPosition, defaultTimeoutMs);
-  }
-
-  @Override
   public ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx) {
     return super.setSelectedSensorPosition(sensorPos, pidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode setSelectedSensorPosition(int sensorPos) {
     return super.setSelectedSensorPosition(sensorPos, defaultPidIdx, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode setStatusFramePeriod(int frameValue, int periodMs) {
     return super.setStatusFramePeriod(frameValue, periodMs, defaultTimeoutMs);
   }
 
-  @Override
   public ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs) {
     return super.setStatusFramePeriod(frame, periodMs, defaultTimeoutMs);
   }
diff --git a/lib/src/main/java/org/team1540/rooster/wrappers/RevBlinken.java b/src/main/java/org/team1540/rooster/wrappers/RevBlinken.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/wrappers/RevBlinken.java
rename to src/main/java/org/team1540/rooster/wrappers/RevBlinken.java
diff --git a/lib/src/main/java/org/team1540/rooster/wrappers/package-info.java b/src/main/java/org/team1540/rooster/wrappers/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/wrappers/package-info.java
rename to src/main/java/org/team1540/rooster/wrappers/package-info.java
diff --git a/lib/src/main/kotlin/org/team1540/rooster/drive/pipeline/PipelineExtensions.kt b/src/main/kotlin/org/team1540/rooster/drive/pipeline/PipelineExtensions.kt
similarity index 100%
rename from lib/src/main/kotlin/org/team1540/rooster/drive/pipeline/PipelineExtensions.kt
rename to src/main/kotlin/org/team1540/rooster/drive/pipeline/PipelineExtensions.kt
diff --git a/test/src/main/java/org/team1540/rooster/testing/AdjustableTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/AdjustableTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java
diff --git a/test/src/main/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
diff --git a/test/src/main/java/org/team1540/rooster/testing/BlinkenTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
similarity index 98%
rename from test/src/main/java/org/team1540/rooster/testing/BlinkenTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
index 826e1c9e..81e06b9e 100644
--- a/test/src/main/java/org/team1540/rooster/testing/BlinkenTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
@@ -34,7 +34,7 @@ public void robotPeriodic() {
     int newID = (int) SmartDashboard.getNumber("Spark ID", currentID);
     if (newID != currentID || blinken == null) {
       if (blinken != null) {
-        blinken.free();
+        blinken.close();
       }
 
       blinken = new RevBlinken(newID);
diff --git a/test/src/main/java/org/team1540/rooster/testing/DriveTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/DriveTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java
diff --git a/test/src/main/java/org/team1540/rooster/testing/HelloWorldTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
diff --git a/test/src/main/java/org/team1540/rooster/testing/PreferencesTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/PreferencesTestRobot.java
rename to src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java
diff --git a/test/src/main/java/org/team1540/rooster/testing/package-info.java b/src/testbots/java/org/team1540/rooster/testing/package-info.java
similarity index 100%
rename from test/src/main/java/org/team1540/rooster/testing/package-info.java
rename to src/testbots/java/org/team1540/rooster/testing/package-info.java
diff --git a/test/src/main/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt b/src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
similarity index 100%
rename from test/src/main/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
rename to src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
diff --git a/test/build.gradle b/test/build.gradle
deleted file mode 100644
index 7a79a48b..00000000
--- a/test/build.gradle
+++ /dev/null
@@ -1,63 +0,0 @@
-plugins {
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
-}
-
-deploy {
-    targets {
-        roboRIO("roborio") {
-            team = frc.getTeamOrDefault(1540)
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            /*
-            IMPORTANT: With the "deploy-debug" property set (i.e. -Pdeploy-debug is on the
-            command line), the robot code will not start until you connect your debugger to the
-            robot. Connect by running the "Remote Robot Debug" run configuration which should be
-            shared through version control. Alternatively, remove this line and redeploy.
-            */
-            debug = project.hasProperty("deploy-debug")
-        }
-    }
-}
-
-
-dependencies {
-    compile(project(":lib")) {
-        exclude group: "edu.wpi.first.wpilibj"
-        exclude group: "edu.wpi.first.ntcore"
-        exclude group: "edu.wpi.first.cscore"
-        exclude group: "org.opencv"
-        exclude group: "com.ctre.phoenix"
-        exclude group: "com.kauailabs.navx.frc"
-    }
-
-    compile wpi.deps.wpilib()
-    compile wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
-}
-
-jar {
-    // declare the robot class property as an input, as normally since we
-    // set it at runtime this wouldn't run if the class changed due to up-to-date checking
-    inputs.property("robotClass", project.hasProperty("robotClass") ? project.robotClass : "")
-    gradle.taskGraph.whenReady {
-        /* 
-        check if we are deploying to the robot. If we're building in CI, for example, the 
-        robot class doesn't need to be set.
-        this is inside the gradle.taskGraph.whenReady so that we don't check if the deploy
-        task is being run before Gradle has figured it out. 
-        */
-        if (gradle.taskGraph.hasTask(":test:deploy")) { // fully qualified task name is needed
-            if (!project.hasProperty("robotClass")) {
-                throw new GradleException("Robot class not set. Pass a value in on the command line by adding -ProbotClass=<your robot class>.")
-            } else {
-                println "Creating JAR for robot ${project.robotClass}"
-            }
-            manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(project.robotClass)
-        }
-    }
-    from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-}
diff --git a/test/settings.gradle b/test/settings.gradle
deleted file mode 100644
index e69de29b..00000000
diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
new file mode 100644
index 00000000..173fb45f
--- /dev/null
+++ b/vendordeps/NavX.json
@@ -0,0 +1,33 @@
+{
+  "fileName": "NavX.json",
+  "name": "KauaiLabs_navX_FRC",
+  "version": "3.1.339",
+  "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+  "mavenUrls": [
+    "https://repo1.maven.org/maven2/"
+  ],
+  "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.kauailabs.navx.frc",
+      "artifactId": "navx-java",
+      "version": "3.1.339"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "com.kauailabs.navx.frc",
+      "artifactId": "navx-cpp",
+      "version": "3.1.339",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": false,
+      "libName": "navx_frc",
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/PathfinderOLD.json b/vendordeps/PathfinderOLD.json
new file mode 100644
index 00000000..f7157aef
--- /dev/null
+++ b/vendordeps/PathfinderOLD.json
@@ -0,0 +1,87 @@
+{
+  "fileName": "PathfinderOLD.json",
+  "name": "PathfinderOld",
+  "version": "2019.1.10",
+  "uuid": "7194a2d4-2860-4bcc-86c0-97879737d875",
+  "uuid": "7194a2d4-2860-4bcc-86c0-97879737d875",
+  "mavenUrls": [
+    "https://dev.imjac.in/maven"
+  ],
+  "jsonUrl": "https://dev.imjac.in/maven/jaci/pathfinder/PathfinderOLD-latest.json",
+  "cppDependencies": [
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-Core",
+      "version": "2019.1.10",
+      "libName": "pathfinder",
+      "configuration": "native_pathfinder_old",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxx86-64",
+        "windowsx86-64",
+        "osxx86-64",
+        "linuxathena",
+        "linuxraspbian"
+      ]
+    },
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-FRCSupport",
+      "version": "2019.1.10",
+      "libName": "pathfinder_frc",
+      "configuration": "native_pathfinder_old",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-Java",
+      "version": "2019.1.10"
+    },
+    {
+      "groupId": "jaci.jniloader",
+      "artifactId": "JNILoader",
+      "version": "1.0.1"
+    },
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-FRCSupport",
+      "version": "2019.1.10"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-JNI",
+      "version": "2019.1.10",
+      "isJar": true,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "linuxx86-64",
+        "windowsx86-64",
+        "osxx86-64",
+        "linuxathena",
+        "linuxraspbian"
+      ]
+    },
+    {
+      "groupId": "jaci.pathfinder",
+      "artifactId": "Pathfinder-CoreJNI",
+      "version": "2019.1.10",
+      "isJar": true,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "linuxx86-64",
+        "windowsx86-64",
+        "osxx86-64",
+        "linuxathena",
+        "linuxraspbian"
+      ]
+    }
+  ]
+}
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
new file mode 100644
index 00000000..df8d7600
--- /dev/null
+++ b/vendordeps/Phoenix.json
@@ -0,0 +1,87 @@
+{
+  "fileName": "Phoenix.json",
+  "name": "CTRE-Phoenix",
+  "version": "5.12.0",
+  "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+  "mavenUrls": [
+    "http://devsite.ctr-electronics.com/maven/release/"
+  ],
+  "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "api-java",
+      "version": "5.12.0"
+    },
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "wpiapi-java",
+      "version": "5.12.0"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "cci",
+      "version": "5.12.0",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "linuxathena",
+        "windowsx86-64",
+        "linuxx86-64"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "wpiapi-cpp",
+      "version": "5.12.0",
+      "libName": "CTRE_Phoenix_WPI",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "windowsx86-64",
+        "linuxx86-64"
+      ]
+    },
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "api-cpp",
+      "version": "5.12.0",
+      "libName": "CTRE_Phoenix",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "windowsx86-64",
+        "linuxx86-64"
+      ]
+    },
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "cci",
+      "version": "5.12.0",
+      "libName": "CTRE_PhoenixCCI",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "windowsx86-64",
+        "linuxx86-64"
+      ]
+    },
+    {
+      "groupId": "com.ctre.phoenix",
+      "artifactId": "core",
+      "version": "5.12.0",
+      "libName": "CTRE_PhoenixCore",
+      "headerClassifier": "headers"
+    }
+  ]
+}

From c21f9d10db4c08be4d1ea06f1affd6065e2bf15a Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 00:50:12 -0800
Subject: [PATCH 06/29] Make travis use Java 11

---
 .travis.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.travis.yml b/.travis.yml
index 2352728f..f05ab994 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,4 +1,6 @@
 language: java
+jdk:
+  - openjdk11
 before_cache:
   - rm -f  $HOME/.gradle/caches/modules-2/modules-2.lock
   - rm -fr $HOME/.gradle/caches/*/plugin-resolution/

From 3a78dd290d019b9323fa457dcd858d0cfc3b5a34 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 00:56:37 -0800
Subject: [PATCH 07/29] Add permwrapper directory to travis cache

GradleRIO changes this to prevent Travis from deleting the wrapper
distribution.
---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index f05ab994..417c2421 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,6 +10,7 @@ cache:
   directories:
   - "$HOME/.gradle/caches/"
   - "$HOME/.gradle/wrapper/"
+  - "$HOME/.gradle/permwrapper/"
   - "$HOME/.gradle/gradlerio/"
 notifications:
   slack:

From d68aeda24c0f80f2daef53fe4330ed75af4a8d6a Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 14:11:24 -0800
Subject: [PATCH 08/29] Apply Kotlin plugin with plugins DSL

---
 build.gradle | 17 ++---------------
 1 file changed, 2 insertions(+), 15 deletions(-)

diff --git a/build.gradle b/build.gradle
index 0acbe3e3..fba7ea5e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,23 +1,10 @@
-buildscript {
-    ext.kotlin_version = '1.3.0'
-
-    repositories {
-        mavenCentral()
-    }
-
-    dependencies {
-        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
-    }
-}
-
 plugins {
     id "java"
     id "maven"
     id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "org.jetbrains.kotlin.jvm" version "1.3.0"
 }
 
-apply plugin: "kotlin"
-
 task sourcesJar(type: Jar, dependsOn: classes) {
     classifier = 'sources'
     from sourceSets.main.allSource
@@ -63,7 +50,7 @@ dependencies {
 
     // Non-FRC depedencies
     compile 'org.jetbrains:annotations:16.0.3'
-    compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
+    compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.0"
 
     compile "com.google.guava:guava:27.0-jre"
     compile "org.apache.commons:commons-math3:3.6.1"

From 0ebc5fa5e9436713e97ece2f2546826edf7df0e4 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 15:53:13 -0800
Subject: [PATCH 09/29] Add robot deployment and make sim work

There's a bit of an ugly workaround with simulateJava's dependencies
(see wpilibsuite/GradleRIO#283) and the robot it's deploying doesn't
entirely exist yet.
---
 build.gradle | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index fba7ea5e..3fa5761b 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,3 +1,5 @@
+import edu.wpi.first.gradlerio.GradleRIOPlugin
+
 plugins {
     id "java"
     id "maven"
@@ -95,14 +97,20 @@ jar.dependsOn(compileTestbotsJava)
 jar {
     inputs.files(compileTestbotsJava.outputs.files)
     gradle.taskGraph.whenReady {
-        if (gradle.taskGraph.hasTask(":deploy")) { // fully qualified task name is needed
+        if (gradle.taskGraph.hasTask(":deployFrcJava") || gradle.taskGraph.hasTask(":simulateJava") || gradle.taskGraph.hasTask(":simulateExternalJava")) { // fully qualified task name is needed
+            System.out.println("Deployment or simulation detected.")
             from ((configurations.compile.collect {
                 it.isDirectory() ? it : zipTree(it)
             }) + sourceSets.testbots.output)
+            manifest GradleRIOPlugin.javaManifest("org.team1540.rooster.testing.TestbotLoaderMain")
         }
     }
 }
 
+simulateJava.dependsOn.removeAll()
+simulateJava.dependsOn(extractTestJNI)
+simulateJava.dependsOn(jar)
+
 wrapper {
     gradleVersion = '5.0'
     distributionType = Wrapper.DistributionType.ALL

From 0a0f453317ad11767c5217e0632a7f821f01479f Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 15:59:00 -0800
Subject: [PATCH 10/29] Make everything use TimedRobot

---
 .../org/team1540/rooster/testing/AdjustableTestRobot.java    | 4 ++--
 .../org/team1540/rooster/testing/AsyncCommandTestRobot.java  | 4 ++--
 .../java/org/team1540/rooster/testing/BlinkenTestRobot.java  | 4 ++--
 .../java/org/team1540/rooster/testing/DriveTestRobot.java    | 4 ++--
 .../org/team1540/rooster/testing/HelloWorldTestRobot.java    | 5 +++--
 .../org/team1540/rooster/testing/PreferencesTestRobot.java   | 4 ++--
 .../org/team1540/rooster/testing/DrivePipelineTesting.kt     | 2 +-
 7 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java
index 6075f614..dce54f64 100644
--- a/src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/AdjustableTestRobot.java
@@ -1,8 +1,8 @@
 package org.team1540.rooster.testing;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import org.team1540.rooster.adjustables.AdjustableManager;
 import org.team1540.rooster.adjustables.Telemetry;
@@ -10,7 +10,7 @@
 import org.team1540.rooster.power.PowerManager;
 
 @Deprecated
-public class AdjustableTestRobot extends IterativeRobot {
+public class AdjustableTestRobot extends TimedRobot {
 
   @Tunable("A boolean")
   public boolean b;
diff --git a/src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
index 9badf295..5b1c7a83 100644
--- a/src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/AsyncCommandTestRobot.java
@@ -1,6 +1,6 @@
 package org.team1540.rooster.testing;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
@@ -8,7 +8,7 @@
 import org.team1540.rooster.preferencemanager.Preference;
 import org.team1540.rooster.util.AsyncCommand;
 
-public class AsyncCommandTestRobot extends IterativeRobot {
+public class AsyncCommandTestRobot extends TimedRobot {
 
   Timer toggleTimer = new Timer();
   Command command1 = new NonAsyncTest();
diff --git a/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
index 81e06b9e..4887e18a 100644
--- a/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/BlinkenTestRobot.java
@@ -1,12 +1,12 @@
 package org.team1540.rooster.testing;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.team1540.rooster.wrappers.RevBlinken;
 import org.team1540.rooster.wrappers.RevBlinken.ColorPattern;
 
-public class BlinkenTestRobot extends IterativeRobot {
+public class BlinkenTestRobot extends TimedRobot {
 
   private SendableChooser<ColorPattern> patternChooser = new SendableChooser<>();
   private int currentID = -1;
diff --git a/src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java
index bf253025..da1aace5 100644
--- a/src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/DriveTestRobot.java
@@ -3,13 +3,13 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import edu.wpi.first.wpilibj.Compressor;
-import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.team1540.rooster.wrappers.ChickenTalon;
 
-public class DriveTestRobot extends IterativeRobot {
+public class DriveTestRobot extends TimedRobot {
   Compressor compressor = new Compressor();
   Joystick joystick;
   ChickenTalon lMaster;
diff --git a/src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
index 975b3c40..81fa479a 100644
--- a/src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/HelloWorldTestRobot.java
@@ -1,9 +1,10 @@
 package org.team1540.rooster.testing;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-public class HelloWorldTestRobot extends IterativeRobot {
+public class HelloWorldTestRobot extends TimedRobot {
+
   @Override
   public void robotInit() {
     String debugString = "debug";
diff --git a/src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java b/src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java
index a20a8f76..f9f0d8e0 100644
--- a/src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java
+++ b/src/testbots/java/org/team1540/rooster/testing/PreferencesTestRobot.java
@@ -1,14 +1,14 @@
 
 package org.team1540.rooster.testing;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Notifier;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import org.team1540.rooster.power.PowerManager;
 import org.team1540.rooster.preferencemanager.Preference;
 import org.team1540.rooster.preferencemanager.PreferenceManager;
 
-public class PreferencesTestRobot extends IterativeRobot {
+public class PreferencesTestRobot extends TimedRobot {
 
   @Preference("A boolean")
   public boolean b;
diff --git a/src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt b/src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
index 0321f531..30ce4886 100644
--- a/src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
+++ b/src/testbots/kotlin/org/team1540/rooster/testing/DrivePipelineTesting.kt
@@ -21,7 +21,7 @@ import java.util.function.DoubleSupplier
  * Base class that all other testing classes inherit from; just has a command that gets started when
  * teleop starts.
  */
-abstract class DrivePipelineTestRobot : IterativeRobot() {
+abstract class DrivePipelineTestRobot : TimedRobot() {
     protected abstract val command: Command
 
     override fun teleopInit() {

From f89a63373ca4158dab29d207e61c84f227d9852d Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 20:45:55 -0800
Subject: [PATCH 11/29] Re-add run configuration robot class deployment
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

WPILib doesn’t specify the robot class in the manifest anymore (you
instead define a main function that instantiates your robot of choice),
so the run-configuration-robot-class-thing broke. This is a really ugly
fix.

According to WPILib, you aren't supposed to modify the main function at
all. Therefore, I thought it prudent to add roughly 70 lines of code
doing all sorts of interesting filesystem and reflection things.
Basically, now what this does is the custom createRobotclassTxt task
reads the robotClass project property (which used to be passed into
GradleRIO) and writes it to a text file (specifically,
build/robotclass.txt). GradleRIO then deploys robotclass.txt to the
robot, where TestbotLoaderMain (which is the "main class" for all
ROOSTER test robots) reads it and attempts to instantiate the class
named within. Now, while I concede this is a terrible system, it is only
marginally worse than what WPILib/GradleRIO used to be doing (namely,
putting the robot class in the jar manifest and reading that.) So I
think that I'm just being ingenious.
---
 build.gradle                                  | 26 ++++++
 .../rooster/testing/TestbotLoaderMain.java    | 82 +++++++++++++++++++
 2 files changed, 108 insertions(+)
 create mode 100644 src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java

diff --git a/build.gradle b/build.gradle
index 3fa5761b..72f0b23f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -72,6 +72,20 @@ configurations {
     testbotsRuntimeOnly.extendsFrom runtimeOnly
 }
 
+// task to create robotclass.txt
+task createRobotclassTxt {
+    inputs.property("robotClass", project.hasProperty("robotClass") ? project.robotClass : "")
+    outputs.files("$buildDir/robotclass.txt")
+    doLast {
+        if (!project.hasProperty("robotClass")) {
+            throw new GradleException("Robot class not set. Pass a value in on the command line by adding -ProbotClass=<your robot class>.")
+        } else {
+            System.out.println("Using robot class " + project.robotClass)
+            new File("$buildDir/robotclass.txt").text = project.robotClass
+        }
+    }
+}
+
 deploy {
     targets {
         roboRIO("roborio") {
@@ -89,6 +103,18 @@ deploy {
             */
             debug = project.hasProperty("deploy-debug")
         }
+        // This is a file (generated by the task above) that contains the name of the robot class we want to deploy.
+        // The file then gets read by TestbotLoaderMain and it instantiates the class using 
+        // reflection.
+        // TODO: Maybe a build-time check that said class file actually exists somewhere in the project?
+        fileArtifact('robotclassTxt') {
+            targets << "roborio"
+
+            file = file("$buildDir/robotclass.txt")
+            directory = "/home/lvuser/"
+
+            dependsOn(createRobotclassTxt)
+        }
     }
 }
 
diff --git a/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java b/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java
new file mode 100644
index 00000000..8eaf0fda
--- /dev/null
+++ b/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java
@@ -0,0 +1,82 @@
+package org.team1540.rooster.testing;
+
+import edu.wpi.first.wpilibj.RobotBase;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.io.FileReader;
+import java.io.IOException;
+import java.lang.reflect.InvocationTargetException;
+
+public class TestbotLoaderMain {
+
+  public static void main(String... args) {
+    // workaround for GradleRIO simulation throwing away standard error
+    if (RobotBase.isSimulation()) {
+      System.setErr(System.out);
+    }
+
+    // try to find a robotclass.txt file
+    File robotClassFile = new File("robotclass.txt");
+
+    if (robotClassFile.isFile()) {
+      // attempt to read from the file
+      try (BufferedReader reader = new BufferedReader(new FileReader(robotClassFile))) {
+        String robotClass = reader.readLine();
+        if (robotClass == null) {
+          System.err.println(
+              "robotclass.txt is empty. Make sure your deployment is correctly configured.");
+        }
+        System.out.println("Attempting to start robot class " + robotClass);
+
+        RobotBase.startRobot(() -> {
+          try {
+            return Class.forName(robotClass).asSubclass(RobotBase.class).getDeclaredConstructor()
+                .newInstance();
+          } catch (ClassNotFoundException e) {
+            System.err.println("Could not find robot class " + robotClass
+                + ". Check for typos in the provided class name.");
+            throw new RuntimeException(e);
+          } catch (ClassCastException e) {
+            System.err.println("Class " + robotClass
+                + " is not a subclass of RobotBase. Make sure your robot class is set up correctly.");
+            throw new RuntimeException(e);
+          } catch (NoSuchMethodException e) {
+            System.err.println("Class " + robotClass
+                + " does not have a no-argument constructor. Make sure your robot class is set up correctly.");
+            throw new RuntimeException(e);
+          } catch (IllegalAccessException e) {
+            System.err.println("The no-argument constructor for class " + robotClass
+                + " is private; change it to public.");
+            throw new RuntimeException(e);
+          } catch (IllegalArgumentException e) {
+            System.err.println(
+                "An IllegalArgumentException was somehow thrown by a method that takes no arguments. Make sure your robot is sane.");
+            throw new RuntimeException(e);
+          } catch (InstantiationException e) {
+            System.err.println(
+                "The provided robot class is abstract and cannot be instantiated. Make sure your robot class is set up correctly.");
+            throw new RuntimeException(e);
+          } catch (InvocationTargetException e) {
+            System.err.println("Your robot threw an exception (" + e.getCause().toString()
+                + ") while being instantiated. Check your constructor (if applicable) and field initializers.");
+            throw new RuntimeException(e);
+          }
+        });
+
+      } catch (FileNotFoundException e) {
+        System.err.println(
+            "Could not find robotclass.txt file. Make sure your deployment is correctly configured.");
+        throw new RuntimeException(e);
+      } catch (IOException e) {
+        System.err.println(
+            "IOException while reading robotclass.txt file. If this appears repeatedly, something has gone terribly wrong.");
+        throw new RuntimeException(e);
+      }
+    } else {
+      System.err.println(
+          "Could not find robotclass.txt file. Make sure your deployment is correctly configured.");
+      System.exit(1);
+    }
+  }
+}

From 96e49bbcefeeda41be0f3febc5d50e1ec4d3fd6b Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 20:46:24 -0800
Subject: [PATCH 12/29] Reorganize/label build file

---
 build.gradle | 31 ++++++++++++++++++++-----------
 1 file changed, 20 insertions(+), 11 deletions(-)

diff --git a/build.gradle b/build.gradle
index 72f0b23f..f84c2c79 100644
--- a/build.gradle
+++ b/build.gradle
@@ -7,6 +7,8 @@ plugins {
     id "org.jetbrains.kotlin.jvm" version "1.3.0"
 }
 
+
+// Maven/Jitpack configuration
 task sourcesJar(type: Jar, dependsOn: classes) {
     classifier = 'sources'
     from sourceSets.main.allSource
@@ -22,14 +24,6 @@ artifacts {
     archives javadocJar
 }
 
-repositories {
-    mavenCentral()
-    maven {
-        name "JitPack"
-        url "https://jitpack.io/"
-    }
-}
-
 javadoc {
     options {
         header '<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>'
@@ -42,6 +36,15 @@ javadoc {
     options.addBooleanOption('Xdoclint:all,-missing', true)
 }
 
+// Dependencies
+
+repositories {
+    mavenCentral()
+    maven {
+        name "JitPack"
+        url "https://jitpack.io/"
+    }
+}
 
 dependencies {
     // FRC dependencies
@@ -50,7 +53,7 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
 
-    // Non-FRC depedencies
+    // Non-FRC dependencies
     compile 'org.jetbrains:annotations:16.0.3'
     compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.0"
 
@@ -60,6 +63,9 @@ dependencies {
     compile "com.github.oxo42:stateless4j:3dd512049f"
 }
 
+// deployment and GradleRIO
+
+// define the testbots source set
 sourceSets {
     testbots {
         compileClasspath += sourceSets.main.output
@@ -123,9 +129,10 @@ jar.dependsOn(compileTestbotsJava)
 jar {
     inputs.files(compileTestbotsJava.outputs.files)
     gradle.taskGraph.whenReady {
-        if (gradle.taskGraph.hasTask(":deployFrcJava") || gradle.taskGraph.hasTask(":simulateJava") || gradle.taskGraph.hasTask(":simulateExternalJava")) { // fully qualified task name is needed
+        if (gradle.taskGraph.hasTask(":deployFrcJava") || gradle.taskGraph.hasTask(":simulateJava") || gradle.taskGraph.hasTask(":simulateExternalJava")) {
+            // fully qualified task name is needed
             System.out.println("Deployment or simulation detected.")
-            from ((configurations.compile.collect {
+            from((configurations.compile.collect {
                 it.isDirectory() ? it : zipTree(it)
             }) + sourceSets.testbots.output)
             manifest GradleRIOPlugin.javaManifest("org.team1540.rooster.testing.TestbotLoaderMain")
@@ -137,6 +144,8 @@ simulateJava.dependsOn.removeAll()
 simulateJava.dependsOn(extractTestJNI)
 simulateJava.dependsOn(jar)
 
+// wrapper
+
 wrapper {
     gradleVersion = '5.0'
     distributionType = Wrapper.DistributionType.ALL

From d3db4e2324b89cc6966048012376be369eaea647 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 20:50:56 -0800
Subject: [PATCH 13/29] Document TestbotLoaderMain

---
 .../org/team1540/rooster/testing/TestbotLoaderMain.java     | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java b/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java
index 8eaf0fda..a5ad73a6 100644
--- a/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java
+++ b/src/testbots/java/org/team1540/rooster/testing/TestbotLoaderMain.java
@@ -8,6 +8,12 @@
 import java.io.IOException;
 import java.lang.reflect.InvocationTargetException;
 
+/**
+ * Class to load test robots. This class reads a robotclass.txt file from the RoboRIO filesystem and
+ * uses that to decide which robot to instantiate. This is so that the robot class can be specified
+ * at build time (by modifying a robotclass.txt to be deployed to the RIO) rather than compile
+ * time.
+ */
 public class TestbotLoaderMain {
 
   public static void main(String... args) {

From daca40c701e3394824406d1473293d7348875edc Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Fri, 4 Jan 2019 21:08:48 -0800
Subject: [PATCH 14/29] Remove CTRE javadoc links

Because they took those down for some reason.
---
 build.gradle | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build.gradle b/build.gradle
index f84c2c79..82028319 100644
--- a/build.gradle
+++ b/build.gradle
@@ -27,7 +27,7 @@ artifacts {
 javadoc {
     options {
         header '<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>'
-        links 'http://first.wpi.edu/FRC/roborio/release/docs/java/', 'http://www.ctr-electronics.com/downloads/api/java/html/'
+        links 'http://first.wpi.edu/FRC/roborio/release/docs/java/'
         linksOffline('https://docs.oracle.com/javase/8/docs/api/', 'https://docs.oracle.com/javase/8/docs/api/')
     }
     options.addStringOption("doctitle", "ROOSTER API")
@@ -110,7 +110,7 @@ deploy {
             debug = project.hasProperty("deploy-debug")
         }
         // This is a file (generated by the task above) that contains the name of the robot class we want to deploy.
-        // The file then gets read by TestbotLoaderMain and it instantiates the class using 
+        // The file then gets read by TestbotLoaderMain and it instantiates the class using
         // reflection.
         // TODO: Maybe a build-time check that said class file actually exists somewhere in the project?
         fileArtifact('robotclassTxt') {

From 73ac579494e910e098bfbc6c39ed57852d47bf54 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Sat, 5 Jan 2019 19:31:47 -0800
Subject: [PATCH 15/29] Minor Javadoc update

Co-Authored-By: edelmanjm <edelmanjm@users.noreply.github.com>
---
 .../team1540/rooster/testers/motor/SimpleControllersTester.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
index 055f0de4..6a5aec02 100644
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
@@ -149,7 +149,7 @@ public void initSendable(SendableBuilder builder) {
   /**
    * Add all the sendables to the {@link SmartDashboard}. Includes chooser for selecting the
    * active {@link IMotorController} and information about the tester. Follows a builder pattern.
-   * @return Follows a builder pattern.
+   * @return This {@code SimpleControllersTester} in a builder pattern.
    */
   public SimpleControllersTester addAllSendables() {
     SmartDashboard.putData("Controller tester info", this);

From 7ed1dfec3a296200cea7b88ea539e5059b50a8a3 Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Sat, 5 Jan 2019 19:33:00 -0800
Subject: [PATCH 16/29] Add contract, suppress warning

---
 .../rooster/testers/motor/SimpleControllersTester.java         | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
index 6a5aec02..b5d6cfdb 100644
--- a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
@@ -13,6 +13,7 @@
 import java.util.NavigableMap;
 import java.util.Optional;
 import java.util.TreeMap;
+import org.jetbrains.annotations.Contract;
 import org.team1540.rooster.util.SimpleCommand;
 
 /**
@@ -151,6 +152,8 @@ public void initSendable(SendableBuilder builder) {
    * active {@link IMotorController} and information about the tester. Follows a builder pattern.
    * @return This {@code SimpleControllersTester} in a builder pattern.
    */
+  @SuppressWarnings("UnusedReturnValue")
+  @Contract(" -> this")
   public SimpleControllersTester addAllSendables() {
     SmartDashboard.putData("Controller tester info", this);
     SmartDashboard.putData("Controller choose", getControllerChooser());

From 54f1f3a7cbc93d3f575f633f72338f7153e4dd08 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Sun, 6 Jan 2019 00:18:09 -0800
Subject: [PATCH 17/29] Revise project structure section

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 007ccd9e..a806ede3 100644
--- a/README.md
+++ b/README.md
@@ -111,7 +111,7 @@ _Note: If you need to use changes that have just been pushed to master, you may
 
 ### Project Structure
 
-ROOSTER is made up of two separate Gradle projects, `lib` (the actual ROOSTER library) and `test` (self-contained robot classes to test library components). Anything in `lib` gets packaged into the distribution JARs, while `test` is only for testing the components from `lib` (and as such includes GradleRIO etc. for deploying to a robot).
+ROOSTER's code is divided into two segments: `main` (in `src/main`), containing main library code which is packed into distribution JARs and given to anyone who adds the library as a dependency, and `testbots` (in `src/testbots`), containing robot classes etc. for testing the components in `main`.  
 
 ### Building
 

From da0c9086470a7201f1d2614674074e6b338e19b7 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Sun, 6 Jan 2019 00:24:37 -0800
Subject: [PATCH 18/29] Update NavX dependency JSON

---
 vendordeps/{NavX.json => navx_frc.json} | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)
 rename vendordeps/{NavX.json => navx_frc.json} (86%)

diff --git a/vendordeps/NavX.json b/vendordeps/navx_frc.json
similarity index 86%
rename from vendordeps/NavX.json
rename to vendordeps/navx_frc.json
index 173fb45f..255358b6 100644
--- a/vendordeps/NavX.json
+++ b/vendordeps/navx_frc.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "NavX.json",
+  "fileName": "navx_frc.json",
   "name": "KauaiLabs_navX_FRC",
-  "version": "3.1.339",
+  "version": "3.1.344",
   "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
   "mavenUrls": [
     "https://repo1.maven.org/maven2/"
@@ -11,7 +11,7 @@
     {
       "groupId": "com.kauailabs.navx.frc",
       "artifactId": "navx-java",
-      "version": "3.1.339"
+      "version": "3.1.344"
     }
   ],
   "jniDependencies": [],
@@ -19,7 +19,7 @@
     {
       "groupId": "com.kauailabs.navx.frc",
       "artifactId": "navx-cpp",
-      "version": "3.1.339",
+      "version": "3.1.344",
       "headerClassifier": "headers",
       "sourcesClassifier": "sources",
       "sharedLibrary": false,

From edc0d8d30fdcb8bcc87a916902dd0b3520a7839f Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Sun, 6 Jan 2019 00:28:27 -0800
Subject: [PATCH 19/29] Add section about dependency JSONs

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index a806ede3..4b61d2c0 100644
--- a/README.md
+++ b/README.md
@@ -99,6 +99,8 @@ dependencies {
 }
 ```
 
+Additionally, you should be using the latest version of GradleRIO with CTRE Phoenix, Kauai Labs NavX, and Pathfinder v1 vendor libraries installed.
+
 We use [JitPack](https://jitpack.io) as a Gradle/Maven repository. This means that if you add the project using Gradle it will be automatically updated with the latest changes to the `master` branch, as well as source code and documentation .jar files.
 
 Using `master-SNAPSHOT` as a version number is good for projects you're actively developing, but after you've finished it's better to anchor it to a specific version (simply change "`master-SNAPSHOT`" to the version number) to avoid possible backwards-compatibility issues.

From f2a750ea1b9bcf62b59817c1e7a359d258f927f2 Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Sun, 6 Jan 2019 14:30:33 -0800
Subject: [PATCH 20/29] Re-add testers

RIP git history and blame.
Thanks Zachary for not deleting them in a separate commit. See 2e75ee5.
Command used was `git checkout -p 2e75ee5^ -- lib/src/main/java/org/team1540/rooster/testers/*.java`
---
 .../rooster/testers/AbstractTester.java       | 209 ++++++++++++++++++
 .../rooster/testers/ResultWithMetadata.java   |  32 +++
 .../org/team1540/rooster/testers/Tester.java  |  91 ++++++++
 .../rooster/testers/motor/BurnoutTester.java  | 174 +++++++++++++++
 .../testers/motor/ControllersMultiTester.java | 207 +++++++++++++++++
 .../rooster/testers/motor/EncoderTester.java  | 145 ++++++++++++
 .../motor/SimpleControllersTester.java        | 159 +++++++++++++
 .../rooster/testers/package-info.java         |   4 +
 8 files changed, 1021 insertions(+)
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/Tester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
 create mode 100644 lib/src/main/java/org/team1540/rooster/testers/package-info.java

diff --git a/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java b/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
new file mode 100644
index 00000000..56eabb27
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
@@ -0,0 +1,209 @@
+package org.team1540.rooster.testers;
+
+import com.google.common.collect.EvictingQueue;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.function.Function;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
+/**
+ * A basic implementation of the Tester interface using essentially EvictingQueues for result
+ * storage.
+ */
+@SuppressWarnings({"unused", "UnstableApiUsage"})
+public abstract class AbstractTester<T, R> implements Tester<T, R> {
+
+  private static float DEFAULT_LOG_TIME = 150;
+  private static int DEFAULT_UPDATE_DELAY = 2500;
+
+  private int updateDelay;
+  private boolean running = true;
+  @NotNull
+  private List<T> itemsToTest;
+  @NotNull
+  private Function<T, R> test;
+  @Nullable
+  private List<Function<T, Boolean>> runConditions;
+  @NotNull
+  private Map<T, ResultStorage<R>> storedResults;
+
+  /**
+   * Construct a new instance with the default queue depth.
+   *
+   * @param test The test to execute.
+   * @param itemsToTest The items to apply the test to.
+   * @param runConditions The conditions that must be met before the test will be executed on an
+   * item.
+   */
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions) {
+    this(test, itemsToTest, runConditions, (int) DEFAULT_LOG_TIME / (DEFAULT_UPDATE_DELAY / 1000));
+  }
+
+  /**
+   * Construct a new instance, specifying the logTime and updateDelay to calculate the queue depth.
+   *
+   * @param test The test to execute.
+   * @param itemsToTest The items to apply the test to.
+   * @param runConditions The conditions that must be met before the test will be executed on an
+   * item.
+   * @param logTime The maximum length of time for which we want to store the results. Note that
+   * this is just used for estimating the queue depth based on the update delay, not actually
+   * checked against while running.
+   * @param updateDelay The delay between the test being run on the items.
+   */
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions, float logTime, int updateDelay) {
+    this(test, itemsToTest, runConditions,
+        (int) (logTime / ((float) updateDelay / 1000f)));
+    this.updateDelay = updateDelay;
+  }
+
+  /**
+   *
+   * Construct a new instance with a given queueDepth.
+   * @param test The test to execute.
+   * @param itemsToTest The items to apply the test to.
+   * @param runConditions The conditions that must be met before the test will be executed on an
+   * item.
+   * @param queueDepth The maximum number of items that the {@link EvictingQueue} can hold.
+   */
+  @SuppressWarnings("WeakerAccess")
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions, int queueDepth) {
+    this.test = test;
+    this.itemsToTest = itemsToTest;
+    this.runConditions = runConditions;
+    this.storedResults = new HashMap<>(itemsToTest.size());
+    // TODO I feel like there's a cleaner way of doing this
+    for (T t : itemsToTest) {
+      this.storedResults.put(t, new ResultStorage<>(queueDepth));
+    }
+  }
+
+  @Override
+  @NotNull
+  public Function<T, R> getTest() {
+    return test;
+  }
+
+  @Override
+  public void setTest(@NotNull Function<T, R> test) {
+    this.test = test;
+  }
+
+  @Override
+  @Nullable
+  public List<Function<T, Boolean>> getRunConditions() {
+    return runConditions;
+  }
+
+  @Override
+  public void setRunConditions(
+      @Nullable List<Function<T, Boolean>> runConditions) {
+    this.runConditions = runConditions;
+  }
+
+
+  @Override
+  @NotNull
+  public List<T> getItemsToTest() {
+    return Collections.unmodifiableList(itemsToTest);
+  }
+
+  @Override
+  @NotNull
+  public EvictingQueue<ResultWithMetadata<R>> getStoredResults(T key) {
+    return storedResults.get(key).queuedResults;
+  }
+
+  @Override
+  @Nullable
+  public ResultWithMetadata<R> peekMostRecentResult(T key) {
+    return storedResults.get(key).lastResult;
+  }
+
+  @Override
+  public int getUpdateDelay() {
+    return updateDelay;
+  }
+
+  @Override
+  public int setUpdateDelay(int delay) {
+    int oldUpdateDelay = this.updateDelay;
+    this.updateDelay = delay;
+    return oldUpdateDelay;
+  }
+
+  @Override
+  public boolean setRunning(boolean status) {
+    boolean oldRunning = this.running;
+    this.running = status;
+    return status;
+  }
+
+  /**
+   * The code that should be called every tick. This does the actual testing. Override me as
+   * necessary (but don't forget to call super!)
+   */
+  protected void periodic() {
+    for (T t : itemsToTest) {
+      // If there are run conditions
+      if (runConditions != null) {
+        // Run through all the run conditions and make sure they all return true
+        for (Function<T, Boolean> runCondition : runConditions) {
+          if (!runCondition.apply(t)) {
+            return;
+          }
+        }
+      }
+
+      this.storedResults.get(t).addResult(this.test.apply(t), System.currentTimeMillis());
+    }
+  }
+
+  @Override
+  public void run() {
+    while (true) {
+
+      if (running) {
+        periodic();
+      }
+
+      try {
+        Thread.sleep(updateDelay);
+      } catch (InterruptedException e) {
+        // End the thread
+        return;
+      }
+    }
+  }
+
+  /**
+   * A class for handling the storage of results. Basically just so the tail can actually be
+   * peeked at.
+   * @param <A> The returned type to store.
+   */
+  private class ResultStorage<A> {
+
+    @Nullable
+    private ResultWithMetadata<A> lastResult;
+    @NotNull
+    private EvictingQueue<ResultWithMetadata<A>> queuedResults;
+
+    private ResultStorage(int queueDepth) {
+      this.queuedResults = EvictingQueue.create(queueDepth);
+    }
+
+    private void addResult(A result, long timeStampMillis) {
+      ResultWithMetadata<A> resultWithMetadata = new ResultWithMetadata<>(result, timeStampMillis);
+      this.lastResult = resultWithMetadata;
+      queuedResults.add(resultWithMetadata);
+    }
+
+  }
+
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java b/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
new file mode 100644
index 00000000..ef0be5ed
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
@@ -0,0 +1,32 @@
+package org.team1540.rooster.testers;
+
+import org.jetbrains.annotations.NotNull;
+
+/**
+ * Class for encapsulating results. Includes the result and a timestamp.
+ *
+ * @param <R> The result type.
+ */
+public class ResultWithMetadata<R> {
+
+  @NotNull
+  private final R result;
+  private final long timestampMillis;
+
+  ResultWithMetadata(@NotNull R result, long timestampMillis) {
+    this.result = result;
+    this.timestampMillis = timestampMillis;
+  }
+
+  @SuppressWarnings("WeakerAccess")
+  @NotNull
+  public R getResult() {
+    return result;
+  }
+
+  @SuppressWarnings("unused")
+  public long getTimestampMillis() {
+    return timestampMillis;
+  }
+
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/Tester.java b/lib/src/main/java/org/team1540/rooster/testers/Tester.java
new file mode 100644
index 00000000..51e98dae
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/Tester.java
@@ -0,0 +1,91 @@
+package org.team1540.rooster.testers;
+
+import com.google.common.collect.EvictingQueue;
+import java.util.List;
+import java.util.function.Function;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
+/**
+ * An interface for testing things.
+ *
+ * @param <T> The type of item being tested.
+ * @param <R> The return type of the test results.
+ */
+@SuppressWarnings("unused")
+public interface Tester<T, R> extends Runnable {
+
+  @NotNull
+  Function<T, R> getTest();
+
+  void setTest(@NotNull Function<T, R> tests);
+
+  /**
+   * Gets the conditions that must be met before the test will be executed on an item.
+   *
+   * @return An potentially {@link List} of the run conditions, or null if there are none (always
+   * execute.)
+   */
+  @SuppressWarnings("UnstableApiUsage")
+  @Nullable
+  List<Function<T, Boolean>> getRunConditions();
+
+  /**
+   * Sets the run conditions that must be met before the test will be executed on an item.
+   *
+   * @param runConditions A {@link List} of the run conditions, or null if the test should always
+   * run.
+   */
+  void setRunConditions(@Nullable List<Function<T, Boolean>> runConditions);
+
+  /**
+   * Gets the items that the tests are being applied to.
+   *
+   * @return An {@link EvictingQueue} of the items that are being tested.
+   */
+  @SuppressWarnings("UnstableApiUsage")
+  @NotNull // TODO how to annotate as unmodifiable?
+  List<T> getItemsToTest();
+
+  /**
+   * Get the results of the test being run.
+   *
+   * @param key The item to get the results for.
+   * @return An {@link EvictingQueue} of {@link ResultWithMetadata} that encapsulate the returned
+   * values.
+   */
+  @SuppressWarnings("UnstableApiUsage")
+  @NotNull
+  EvictingQueue<ResultWithMetadata<R>> getStoredResults(T key);
+
+  /**
+   * Gets the most recent result of the the test without impacting the stored results.
+   *
+   * @param key The item to get the results for.
+   * @return A {@link ResultWithMetadata} that encapsulate the returned value.
+   */
+  @Nullable
+  ResultWithMetadata<R> peekMostRecentResult(T key);
+
+  /**
+   * Gets the delay between the test being run on the items.
+   * @return The delay in milliseconds.
+   */
+  int getUpdateDelay();
+
+  /**
+   * Set the delay between the test being run on the items.
+   * @param delay The new delay in milliseconds.
+   * @return The previous delay in milliseconds.
+   */
+  @SuppressWarnings("UnusedReturnValue")
+  int setUpdateDelay(int delay);
+
+  /**
+   * Set if the tests should be running. Note that this does not stop the thread, only the actual
+   * execution of the tests.
+   * @param status The new status.
+   * @return The old status.
+   */
+  boolean setRunning(boolean status);
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
new file mode 100644
index 00000000..9ae39f9d
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
@@ -0,0 +1,174 @@
+package org.team1540.rooster.testers.motor;
+
+import com.ctre.phoenix.motorcontrol.IMotorController;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Optional;
+import org.apache.commons.math3.stat.descriptive.moment.StandardDeviation;
+import org.apache.commons.math3.stat.descriptive.rank.Median;
+import org.team1540.rooster.testers.AbstractTester;
+import org.team1540.rooster.testers.ResultWithMetadata;
+
+/**
+ * Reports motor burnouts by comparing the current draw across a series of similarly-purposed
+ * motors and reporting low outliers or checking if a single motor is below the cutoff.
+ */
+@SuppressWarnings("unused")
+public class BurnoutTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
+
+  private static final Median medianCalculator = new Median();
+  private static final StandardDeviation stdDevCalculator = new StandardDeviation();
+  private double medianCurrent = 0;
+  private double stdDevCurrent = 0;
+
+  private double currentCutoff = 1;
+  private double percentOutputCutoff = 0.5;
+
+  private String name = "BurnoutTester";
+
+  /**
+   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there is more
+   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there is
+   * one or few motors. Equivalent to {@link BurnoutTester#BurnoutTester(List) EncoderTester
+   * (Arrays.asList(motorsToTest))}.
+   *
+   * @param motorsToTest The motors to compare to each other.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public BurnoutTester(IMotorController... motorsToTest) {
+    this(Arrays.asList(motorsToTest));
+  }
+
+  /**
+   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there are more
+   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there two
+   * two or few motors.
+   *
+   * @param motorsToTest The motors to compare to each other.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public BurnoutTester(List<IMotorController> motorsToTest) {
+    // Because passing in a reference to a non-static method in the constructor doesn't work.
+    super((stupid) -> null, motorsToTest, null, 150, 500);
+    this.setTest(motorsToTest.size() > 2 ? this::testBurnoutMultiMotor :
+        this::testBurnoutSingleMotor);
+  }
+
+  /**
+   * Tests to see if a motor is burned out by checking to see if the current being drawn is at
+   * least one standard deviation below the median.
+   * @param controller The motor to test for burnout.
+   * @return Boolean indicating burnout.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public boolean testBurnoutMultiMotor(IMotorController controller) {
+    return controller.getOutputCurrent() < (this.medianCurrent - 1 * this.stdDevCurrent);
+  }
+
+  /**
+   * Test to see if a motor is burned out by checking to see if the current being drawn is below
+   * the current cutoff.
+   *
+   * @param controller The motor to test for burnout.
+   * @return Boolean indicating burnout.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public boolean testBurnoutSingleMotor(IMotorController controller) {
+    return controller.getMotorOutputPercent() > percentOutputCutoff
+        && controller.getOutputCurrent() < currentCutoff;
+  }
+
+  /**
+   * Gets the currents, calculates the median and standard deviation, then calls super.
+   */
+  @Override
+  protected void periodic() {
+    double[] currents = getItemsToTest().stream().mapToDouble(IMotorController::getOutputCurrent)
+        .toArray();
+    medianCurrent = medianCalculator.evaluate(currents);
+    stdDevCurrent = stdDevCalculator.evaluate(currents);
+    super.periodic();
+  }
+
+  @Override
+  public String getName() {
+    return this.name;
+  }
+
+  @Override
+  public void setName(String name) {
+    this.name = name;
+  }
+
+  @Override
+  public String getSubsystem() {
+    return this.name;
+  }
+
+  @Override
+  public void setSubsystem(String subsystem) {
+    this.name = subsystem;
+  }
+
+  /**
+   * Gets the current cutoff. Defaults to 1A.
+   *
+   * @return The current cutoff in amps.
+   */
+  public double getCurrentCutoff() {
+    return currentCutoff;
+  }
+
+  /**
+   * Sets the current cutoff.
+   *
+   * @param currentCutoff The current cutoff in amps.
+   */
+  public void setCurrentCutoff(double currentCutoff) {
+    this.currentCutoff = currentCutoff;
+  }
+
+  /**
+   * Gets the percent output cutoff. Defaults to 50%.
+   *
+   * @return The percent output cutoff as a percentage.
+   */
+  public double getPercentOutputCutoff() {
+    return percentOutputCutoff;
+  }
+
+  /**
+   * Sets the percent output cutoff.
+   *
+   * @param percentOutputCutoff The output cutoff as a percentage.
+   */
+  public void setPercentOutputCutoff(double percentOutputCutoff) {
+    this.percentOutputCutoff = percentOutputCutoff;
+  }
+
+  /**
+   * Displays the current status of each motor and the median current draw.
+   * @param builder The {@link SendableBuilder} to use.
+   */
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    //noinspection Duplicates
+    for (IMotorController t : getItemsToTest()) {
+      // Get the most recent value if present, else simply don't add it to the builder
+      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
+        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
+        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
+        if (result.isPresent()) {
+          return result.get().getResult();
+        } else {
+          return false;
+        }
+      }, null);
+    }
+    builder.addDoubleProperty("Median current", () -> medianCurrent, null);
+  }
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
new file mode 100644
index 00000000..14f12d0e
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
@@ -0,0 +1,207 @@
+package org.team1540.rooster.testers.motor;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.IMotorController;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.github.oxo42.stateless4j.StateMachine;
+import com.github.oxo42.stateless4j.StateMachineConfig;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.function.Consumer;
+import org.team1540.rooster.testers.AbstractTester;
+import org.team1540.rooster.testers.ResultWithMetadata;
+import org.team1540.rooster.wrappers.ChickenTalon;
+
+/**
+ * Simple automated testing for motors. Add the motors with the specified test using the builder
+ * methods, then run the command.
+ */
+public class ControllersMultiTester extends Command {
+
+  private Timer timer = new Timer();
+  private StateMachine<State, Trigger> stateMachine;
+  private List<TesterAndCommand> tests = new LinkedList<>();
+  private int index = 0;
+
+  /**
+   * Default constructor. Note that this class follows a builder pattern; use
+   * {@link #addControllerGroup(IMotorController...)} and
+   * {@link #addEncoderGroup(ChickenTalon...)} to add the motors.
+   */
+  public ControllersMultiTester() {
+    StateMachineConfig<State, Trigger> stateMachineConfig = new StateMachineConfig<>();
+    stateMachineConfig.configure(State.INITIALIZING)
+        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_UP);
+    stateMachineConfig.configure(State.SPIN_UP)
+        .permit(Trigger.TIME_HAS_PASSED, State.EXECUTING)
+        .onEntry(() -> {
+          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
+            tests.get(index).getFunction().accept(motor);
+          }
+        });
+    stateMachineConfig.configure(State.EXECUTING)
+        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_DOWN)
+        .onEntry(() -> new Thread(tests.get(index).getTest()).start())
+        .onExit(() -> tests.get(index).getTest().setRunning(false));
+    stateMachineConfig.configure(State.SPIN_DOWN)
+        .permit(Trigger.TIME_HAS_PASSED, State.SPIN_UP)
+        .permit(Trigger.FINISHED, State.FINISHED)
+        .onEntry(() -> {
+          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
+            motor.set(ControlMode.PercentOutput, 0);
+          }
+          index++;
+        });
+    this.stateMachine = new StateMachine<>(State.INITIALIZING, stateMachineConfig);
+    this.stateMachine.setShouldLog(false);
+  }
+
+  /**
+   * Add a group of motors to test together with the default function (disables braking and sets
+   * the motors to full.) Currently uses only {@link BurnoutTester}.
+   *
+   * @param controllerGroup The motors to add.
+   * @return this
+   */
+  public ControllersMultiTester addControllerGroup(IMotorController... controllerGroup) {
+    addControllerGroup(this::setMotorToFull, controllerGroup);
+    return this;
+  }
+
+  /**
+   * Add a group of motors to test together with the specified function. Currently uses only
+   * {@link BurnoutTester}.
+   * @param function The function to apply before running the tests.
+   * @param controllerGroup The motors to add.
+   * @return this
+   */
+  @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
+  public ControllersMultiTester addControllerGroup(Consumer<IMotorController> function,
+      IMotorController... controllerGroup) {
+    tests.add(new TesterAndCommand(new BurnoutTester(controllerGroup), function));
+    return this;
+  }
+
+  /**
+   * Add a group of motors with encoders to test together with the default function (disables
+   * braking and sets the motors to full.) Currently uses only {@link EncoderTester}.
+   * @param controllerGroup The motors to add.
+   * @return this
+   */
+  public ControllersMultiTester addEncoderGroup(ChickenTalon... controllerGroup) {
+    addEncoderGroup(this::setMotorToFull, controllerGroup);
+    return this;
+  }
+
+  /**
+   * Add a group of motors with encoders to test together with the specified function. Currently
+   * uses only {@link EncoderTester}.
+   * @param function The function to apply before running the tests.
+   * @param controllerGroup The motors to add.
+   * @return this
+   */
+  @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
+  public ControllersMultiTester addEncoderGroup(Consumer<IMotorController> function,
+      ChickenTalon... controllerGroup) {
+    tests.add(new TesterAndCommand(new EncoderTester(controllerGroup), function));
+    return this;
+  }
+
+  @Override
+  protected void initialize() {
+    timer.reset();
+    timer.start();
+  }
+
+  @Override
+  protected void execute() {
+    if (stateMachine.getState().timeToComplete != null) {
+      if (timer.hasPeriodPassed(stateMachine.getState().getTimeToComplete())) {
+        if (index >= tests.size()) {
+          stateMachine.fire(Trigger.FINISHED);
+        } else {
+          stateMachine.fire(Trigger.TIME_HAS_PASSED);
+        }
+      }
+    }
+  }
+
+  @Override
+  protected void end() {
+    // Very optimized yes no duplicate code either
+    for (TesterAndCommand testerAndCommand : tests) {
+      for (IMotorController controller : testerAndCommand.getTest().getItemsToTest()) {
+        int failureCount = 0;
+        for (ResultWithMetadata<Boolean> result : testerAndCommand.getTest()
+            .getStoredResults(controller)) {
+          if (result.getResult().equals(Boolean.TRUE)) {
+            failureCount++;
+          }
+        }
+        if (failureCount > 0) {
+          DriverStation
+              .reportError("Motor " + controller.getDeviceID() + " reported " + failureCount +
+                  " failures of type " + testerAndCommand.getTest(), false);
+        }
+      }
+    }
+    System.out.println("Finished testing");
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return stateMachine.getState().equals(State.FINISHED);
+  }
+
+  private void setMotorToFull(IMotorController motor) {
+    motor.setNeutralMode(NeutralMode.Coast);
+    motor.set(ControlMode.PercentOutput, 1.0);
+  }
+
+  private enum State {
+    INITIALIZING(0), SPIN_UP(0.25), EXECUTING(1), SPIN_DOWN(0), FINISHED;
+
+    private final Double timeToComplete;
+
+    State() {
+      this.timeToComplete = null;
+    }
+
+    State(double timeToComplete) {
+      this.timeToComplete = timeToComplete;
+    }
+
+    public Double getTimeToComplete() {
+      return timeToComplete;
+    }
+  }
+
+  private enum Trigger {
+    TIME_HAS_PASSED, FINISHED
+  }
+
+  private class TesterAndCommand {
+
+    private AbstractTester<IMotorController, Boolean> test;
+    private Consumer<IMotorController> function;
+
+    private TesterAndCommand(
+        AbstractTester<IMotorController, Boolean> test,
+        Consumer<IMotorController> function) {
+      this.test = test;
+      this.function = function;
+    }
+
+    private AbstractTester<IMotorController, Boolean> getTest() {
+      return test;
+    }
+
+    private Consumer<IMotorController> getFunction() {
+      return function;
+    }
+  }
+
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
new file mode 100644
index 00000000..f3dcc8e0
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
@@ -0,0 +1,145 @@
+package org.team1540.rooster.testers.motor;
+
+import com.ctre.phoenix.motorcontrol.IMotorController;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+import java.util.Optional;
+import org.team1540.rooster.testers.AbstractTester;
+import org.team1540.rooster.testers.ResultWithMetadata;
+
+/**
+ * Reports if an encoder appears to be non-functional by checking to see if a motor is running
+ * and if the corresponding encoder is moving.
+ */
+@SuppressWarnings("unused")
+public class EncoderTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
+
+  private String name = "EncoderTester";
+
+  private double currentThreshold = 1;
+  private double velocityThreshold = 5;
+
+  /**
+   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
+   * ms. Equivalent to {@link EncoderTester#EncoderTester(List) EncoderTester(Arrays.asList
+   * (motorsToTest))}.
+   *
+   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public EncoderTester(IMotorController... motorsToTest) {
+    this(Arrays.asList(motorsToTest));
+  }
+
+  /**
+   * Construct a new instance with the default logTime of 150 seconds and an update delay of 500 ms.
+   *
+   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public EncoderTester(List<IMotorController> motorsToTest) {
+    // Because passing in a reference to a non-static method in the constructor doesn't work.
+    // Test will run if the motor is drawing over 1A of current.
+    super((stupid) -> null, motorsToTest, null, 150, 500);
+    this.setTest(this::testEncoder);
+    this.setRunConditions(
+        Collections.singletonList((motor) -> (motor).getOutputCurrent() > currentThreshold));
+  }
+
+  /**
+   * Tests to see if the encoder is working by checking to see if the controller is drawing more
+   * than 1 amp and if the selected {@link IMotorController} is moving at a velocity of less than 5.
+   *
+   * @param controller The {@link IMotorController} to test for burnout.
+   * @return Boolean indicating if the encoder is encoder has failed: true if it is suspected
+   * of failure, false if it is not suspected of failure.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public Boolean testEncoder(IMotorController controller) {
+    // Do the wrappers provide pidIdx nicely? Yes. Can we just use zero? Also probably yes.
+    return controller.getOutputCurrent() > currentThreshold
+        && Math.abs(controller.getSelectedSensorVelocity(0)) < velocityThreshold;
+  }
+
+  @Override
+  public String getName() {
+    return this.name;
+  }
+
+  @Override
+  public void setName(String name) {
+    this.name = name;
+  }
+
+  @Override
+  public String getSubsystem() {
+    return this.name;
+  }
+
+  @Override
+  public void setSubsystem(String subsystem) {
+    this.name = subsystem;
+  }
+
+  /**
+   * Gets the threshold under which a motor will not be tested for movement. Defaults to 1A.
+   *
+   * @return A double representing the current in amps.
+   */
+  public double getCurrentThreshold() {
+    return currentThreshold;
+  }
+
+  /**
+   * Sets the threshold under which a motor will not be tested for movement
+   *
+   * @param currentThreshold A double representing the current in amps.
+   */
+  public void setCurrentThreshold(double currentThreshold) {
+    this.currentThreshold = currentThreshold;
+  }
+
+  /**
+   * Gets the encoder velocity under which an encoder failure will be reported. Defaults to 5.
+   *
+   * @return A double representing the velocity in whatever units are set.
+   */
+  public double getVelocityThreshold() {
+    return velocityThreshold;
+  }
+
+  /**
+   * Sets the encoder velocity under which an encoder failure will be reported.
+   *
+   * @param velocityThreshold A double representing the velocity in whatever units are set.
+   */
+  public void setVelocityThreshold(double velocityThreshold) {
+    this.velocityThreshold = velocityThreshold;
+  }
+
+  /**
+   * Displays the current status of each {@link IMotorController}.
+   *
+   * @param builder The {@link SendableBuilder} to use.
+   */
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    //noinspection Duplicates
+    for (IMotorController t : getItemsToTest()) {
+      // Get the most recent value if present, else simply don't add it to the builder
+      //noinspection Duplicates
+      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
+        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
+        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
+        if (result.isPresent()) {
+          return result.get().getResult();
+        } else {
+          return false;
+        }
+      }, null);
+    }
+  }
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
new file mode 100644
index 00000000..95cc63d0
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
@@ -0,0 +1,159 @@
+package org.team1540.rooster.testers.motor;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.IMotorController;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.NavigableMap;
+import java.util.Optional;
+import java.util.TreeMap;
+import org.team1540.rooster.util.SimpleCommand;
+
+/**
+ * A simple command for testing a series of {@link IMotorController IMotorControllers}. Simply
+ * add the controllers, specify control bindings or use the defaults, and you're ready! Select
+ * the motor in the SmartDashboard or move next/previous with buttons and control the percent
+ * output of the motor with a joystick axis.
+ */
+public class SimpleControllersTester extends Command implements Sendable {
+
+  private static final int DEFAULT_JOYSTICK_ID = 0;
+  private static final int DEFAULT_AXIS_ID = 5;
+  private static final int DEFAULT_NEXT_BUTTON_ID = 1;
+  private static final int DEFAULT_PREVIOUS_BUTTON_ID = 2;
+
+  private Joystick joystick;
+  private int axisId;
+
+  // Is the retrieval time poor, despite the need for a lot of retrievals? Yes. Are we ignoring that
+  // because the size of the map is small? Also yes.
+  private NavigableMap<Integer, IMotorController> controllers = new TreeMap<>();
+
+  // Do not manually update this value. Instead, call setCurrentController()
+  private IMotorController currentController;
+
+  private SendableChooser<Integer> controllerChooser = new SendableChooser<>();
+
+  /**
+   * Construct a new instance with the default bindings on {@link Joystick} 0. On an Xbox
+   * controller, the right thumbstick y-axis controls {@link ControlMode}.PERCENT_OUTPUT, the A
+   * button goes to the next {@link IMotorController}, and the B button goes to the previous
+   * {@link IMotorController}.
+   *
+   * @param controllers The {@link IMotorController IMotorControllers} to test.
+   */
+  public SimpleControllersTester(IMotorController... controllers) {
+    this(new Joystick(DEFAULT_JOYSTICK_ID), DEFAULT_AXIS_ID, DEFAULT_NEXT_BUTTON_ID,
+        DEFAULT_PREVIOUS_BUTTON_ID, controllers);
+  }
+
+  /**
+   * Construct a new instance with the specified bindings.
+   * @param joystick The joystick port to use.
+   * @param axisId The axis on the joystick to use.
+   * @param nextButtonId The button to use to proceed to the next {@link IMotorController}.
+   * @param previousButtonId The button to use to proceed to the nex {@link IMotorController}.
+   * @param controllers The {@link IMotorController IMotorControllers} to test.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public SimpleControllersTester(Joystick joystick, int axisId, int nextButtonId,
+      int previousButtonId,
+      IMotorController... controllers) {
+    this.joystick = joystick;
+    this.axisId = axisId;
+
+    // Make the buttons go the next and previous controller, or loop around if not available
+    new JoystickButton(this.joystick, nextButtonId).whenPressed(new SimpleCommand("Next "
+        + "controller ID",
+        () -> setCurrentController(
+            Optional.ofNullable(this.controllers.higherKey(this.currentController.getDeviceID()))
+                .orElse(this.controllers.firstKey()))));
+    new JoystickButton(this.joystick, previousButtonId).whenPressed(new SimpleCommand("Previous "
+        + "controller ID",
+        () -> setCurrentController(
+            Optional.ofNullable(this.controllers.lowerKey(this.currentController.getDeviceID()))
+                .orElse(this.controllers.lastKey()))));
+
+    // Add a chooser that you can use to select the controller and initialize it to null,
+    // corresponding with buttons should be used
+    this.controllerChooser.addObject("Use buttons", null);
+    for (IMotorController controller : controllers) {
+      this.controllers.put(controller.getDeviceID(), controller);
+      this.controllerChooser.addObject(String.valueOf(controller.getDeviceID()),
+          controller.getDeviceID());
+      controller.setNeutralMode(NeutralMode.Coast);
+    }
+
+    // Set the active controller to the first controller
+    setCurrentController(controllers[0].getDeviceID());
+  }
+
+  /**
+   * Checks every tick if the chooser is set to a controller or to use buttons, then sets the
+   * output according to the value of the active joystick.
+   */
+  @Override
+  protected void execute() {
+    if (controllerChooser.getSelected() != null) {
+      setCurrentController(controllerChooser.getSelected());
+    }
+    currentController.set(ControlMode.PercentOutput, joystick.getRawAxis(axisId));
+  }
+
+  /**
+   * Updates the currently active {@link IMotorController}.
+   * @param newId The ID of the new {@link IMotorController}.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public void setCurrentController(int newId) {
+    if (currentController != null) {
+      currentController.set(ControlMode.PercentOutput, 0);
+    }
+    currentController = controllers.get(newId);
+  }
+
+  /**
+   * Prevents the command from finishing.
+   * @return false.
+   */
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  /**
+   * Gets the chooser used for selecting the current {@link IMotorController}.
+   * @return A chooser.
+   */
+  @SuppressWarnings("WeakerAccess")
+  public SendableChooser<Integer> getControllerChooser() {
+    return controllerChooser;
+  }
+
+  /**
+   * Adds a single property showing the current active controller.
+   * @param builder The thing to add the things to.
+   */
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.addDoubleProperty("Controller ID", () -> this.currentController.getDeviceID(),
+        (id) -> setCurrentController((int) id));
+  }
+
+  /**
+   * Add all the sendables to the {@link SmartDashboard}. Includes chooser for selecting the
+   * active {@link IMotorController} and information about the tester.
+   */
+  public void addAllSendables() {
+    SmartDashboard.putData("Controller tester info", this);
+    SmartDashboard.putData("Controller choose", getControllerChooser());
+  }
+
+
+}
diff --git a/lib/src/main/java/org/team1540/rooster/testers/package-info.java b/lib/src/main/java/org/team1540/rooster/testers/package-info.java
new file mode 100644
index 00000000..33dbb24a
--- /dev/null
+++ b/lib/src/main/java/org/team1540/rooster/testers/package-info.java
@@ -0,0 +1,4 @@
+/**
+ * Various classes for testing common things.
+ */
+package org.team1540.rooster.testers;

From 3a7f2fe96c7cd9d733ac4c1f8cbd0b7a2265f158 Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Sun, 6 Jan 2019 14:31:36 -0800
Subject: [PATCH 21/29] Move testers to new directory structure

---
 .../main/java/org/team1540/rooster/testers/AbstractTester.java    | 0
 .../java/org/team1540/rooster/testers/ResultWithMetadata.java     | 0
 .../main/java/org/team1540/rooster/testers/Tester.java            | 0
 .../java/org/team1540/rooster/testers/motor/BurnoutTester.java    | 0
 .../team1540/rooster/testers/motor/ControllersMultiTester.java    | 0
 .../java/org/team1540/rooster/testers/motor/EncoderTester.java    | 0
 .../team1540/rooster/testers/motor/SimpleControllersTester.java   | 0
 .../main/java/org/team1540/rooster/testers/package-info.java      | 0
 8 files changed, 0 insertions(+), 0 deletions(-)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/AbstractTester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/ResultWithMetadata.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/Tester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/motor/EncoderTester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java (100%)
 rename {lib/src => src}/main/java/org/team1540/rooster/testers/package-info.java (100%)

diff --git a/lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java b/src/main/java/org/team1540/rooster/testers/AbstractTester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java
rename to src/main/java/org/team1540/rooster/testers/AbstractTester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java b/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
rename to src/main/java/org/team1540/rooster/testers/ResultWithMetadata.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/Tester.java b/src/main/java/org/team1540/rooster/testers/Tester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/Tester.java
rename to src/main/java/org/team1540/rooster/testers/Tester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java b/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
rename to src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java b/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
rename to src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java b/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
rename to src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
rename to src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
diff --git a/lib/src/main/java/org/team1540/rooster/testers/package-info.java b/src/main/java/org/team1540/rooster/testers/package-info.java
similarity index 100%
rename from lib/src/main/java/org/team1540/rooster/testers/package-info.java
rename to src/main/java/org/team1540/rooster/testers/package-info.java

From f474877c12cab10a26989244b48ba9e92f2d4a8b Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Sun, 6 Jan 2019 20:04:01 -0800
Subject: [PATCH 22/29] Update tester for 2019 (mostly)

Move testers to new directory structure
Java 11 cleanup
Warning cleanup
Migrate BurnoutTester to use TalonSRXs. Note this breaks SimpleControllersTester, this will need to be fixed before merging.
---
 .../rooster/testers/motor/BurnoutTester.java  | 38 ++++++++-----------
 .../testers/motor/ControllersMultiTester.java | 11 +++++-
 .../rooster/testers/motor/EncoderTester.java  | 28 +++++++-------
 .../motor/SimpleControllersTester.java        |  8 ++--
 4 files changed, 44 insertions(+), 41 deletions(-)

diff --git a/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java b/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
index 9ae39f9d..cf18447c 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
@@ -1,6 +1,6 @@
 package org.team1540.rooster.testers.motor;
 
-import com.ctre.phoenix.motorcontrol.IMotorController;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import java.util.Arrays;
@@ -16,7 +16,7 @@
  * motors and reporting low outliers or checking if a single motor is below the cutoff.
  */
 @SuppressWarnings("unused")
-public class BurnoutTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
+public class BurnoutTester extends AbstractTester<TalonSRX, Boolean> implements Sendable {
 
   private static final Median medianCalculator = new Median();
   private static final StandardDeviation stdDevCalculator = new StandardDeviation();
@@ -30,28 +30,27 @@ public class BurnoutTester extends AbstractTester<IMotorController, Boolean> imp
 
   /**
    * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there is more
-   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there is
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(TalonSRX)} if there is more
+   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(TalonSRX)} if there is
    * one or few motors. Equivalent to {@link BurnoutTester#BurnoutTester(List) EncoderTester
    * (Arrays.asList(motorsToTest))}.
    *
    * @param motorsToTest The motors to compare to each other.
    */
-  @SuppressWarnings("WeakerAccess")
-  public BurnoutTester(IMotorController... motorsToTest) {
+  public BurnoutTester(TalonSRX... motorsToTest) {
     this(Arrays.asList(motorsToTest));
   }
 
   /**
    * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(IMotorController)} if there are more
-   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(IMotorController)} if there two
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(TalonSRX)} if there are more
+   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(TalonSRX)} if there two
    * two or few motors.
    *
    * @param motorsToTest The motors to compare to each other.
    */
   @SuppressWarnings("WeakerAccess")
-  public BurnoutTester(List<IMotorController> motorsToTest) {
+  public BurnoutTester(List<TalonSRX> motorsToTest) {
     // Because passing in a reference to a non-static method in the constructor doesn't work.
     super((stupid) -> null, motorsToTest, null, 150, 500);
     this.setTest(motorsToTest.size() > 2 ? this::testBurnoutMultiMotor :
@@ -65,7 +64,7 @@ public BurnoutTester(List<IMotorController> motorsToTest) {
    * @return Boolean indicating burnout.
    */
   @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutMultiMotor(IMotorController controller) {
+  public boolean testBurnoutMultiMotor(TalonSRX controller) {
     return controller.getOutputCurrent() < (this.medianCurrent - 1 * this.stdDevCurrent);
   }
 
@@ -77,7 +76,7 @@ public boolean testBurnoutMultiMotor(IMotorController controller) {
    * @return Boolean indicating burnout.
    */
   @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutSingleMotor(IMotorController controller) {
+  public boolean testBurnoutSingleMotor(TalonSRX controller) {
     return controller.getMotorOutputPercent() > percentOutputCutoff
         && controller.getOutputCurrent() < currentCutoff;
   }
@@ -87,7 +86,7 @@ public boolean testBurnoutSingleMotor(IMotorController controller) {
    */
   @Override
   protected void periodic() {
-    double[] currents = getItemsToTest().stream().mapToDouble(IMotorController::getOutputCurrent)
+    double[] currents = getItemsToTest().stream().mapToDouble(TalonSRX::getOutputCurrent)
         .toArray();
     medianCurrent = medianCalculator.evaluate(currents);
     stdDevCurrent = stdDevCalculator.evaluate(currents);
@@ -156,18 +155,11 @@ public void setPercentOutputCutoff(double percentOutputCutoff) {
    */
   @Override
   public void initSendable(SendableBuilder builder) {
-    //noinspection Duplicates
-    for (IMotorController t : getItemsToTest()) {
+    for (TalonSRX t : getItemsToTest()) {
       // Get the most recent value if present, else simply don't add it to the builder
-      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
-        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
-        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
-        if (result.isPresent()) {
-          return result.get().getResult();
-        } else {
-          return false;
-        }
-      }, null);
+      builder.addBooleanProperty(t.getDeviceID() + "",
+          () -> Optional.ofNullable(peekMostRecentResult(t))
+              .map(ResultWithMetadata::getResult).orElse(false), null);
     }
     builder.addDoubleProperty("Median current", () -> medianCurrent, null);
   }
diff --git a/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java b/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
index 14f12d0e..5ad569b4 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
@@ -3,14 +3,17 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.IMotorController;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.github.oxo42.stateless4j.StateMachine;
 import com.github.oxo42.stateless4j.StateMachineConfig;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
+import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.Consumer;
+import java.util.stream.Collectors;
 import org.team1540.rooster.testers.AbstractTester;
 import org.team1540.rooster.testers.ResultWithMetadata;
 import org.team1540.rooster.wrappers.ChickenTalon;
@@ -19,6 +22,7 @@
  * Simple automated testing for motors. Add the motors with the specified test using the builder
  * methods, then run the command.
  */
+@SuppressWarnings("unused")
 public class ControllersMultiTester extends Command {
 
   private Timer timer = new Timer();
@@ -66,6 +70,7 @@ public ControllersMultiTester() {
    * @param controllerGroup The motors to add.
    * @return this
    */
+  @SuppressWarnings("WeakerAccess")
   public ControllersMultiTester addControllerGroup(IMotorController... controllerGroup) {
     addControllerGroup(this::setMotorToFull, controllerGroup);
     return this;
@@ -81,7 +86,10 @@ public ControllersMultiTester addControllerGroup(IMotorController... controllerG
   @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
   public ControllersMultiTester addControllerGroup(Consumer<IMotorController> function,
       IMotorController... controllerGroup) {
-    tests.add(new TesterAndCommand(new BurnoutTester(controllerGroup), function));
+    List<TalonSRX> talons =
+        Arrays.stream(controllerGroup).filter(TalonSRX.class::isInstance).map(TalonSRX.class::cast)
+            .collect(Collectors.toList());
+    tests.add(new TesterAndCommand(new BurnoutTester(talons), function));
     return this;
   }
 
@@ -91,6 +99,7 @@ public ControllersMultiTester addControllerGroup(Consumer<IMotorController> func
    * @param controllerGroup The motors to add.
    * @return this
    */
+  @SuppressWarnings("WeakerAccess")
   public ControllersMultiTester addEncoderGroup(ChickenTalon... controllerGroup) {
     addEncoderGroup(this::setMotorToFull, controllerGroup);
     return this;
diff --git a/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java b/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
index f3dcc8e0..5b85a805 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
@@ -1,6 +1,7 @@
 package org.team1540.rooster.testers.motor;
 
 import com.ctre.phoenix.motorcontrol.IMotorController;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import java.util.Arrays;
@@ -42,11 +43,17 @@ public EncoderTester(IMotorController... motorsToTest) {
   @SuppressWarnings("WeakerAccess")
   public EncoderTester(List<IMotorController> motorsToTest) {
     // Because passing in a reference to a non-static method in the constructor doesn't work.
-    // Test will run if the motor is drawing over 1A of current.
+    // Test will run if the motor is drawing over 1A of current if telemetry is available, or else,
     super((stupid) -> null, motorsToTest, null, 150, 500);
     this.setTest(this::testEncoder);
     this.setRunConditions(
-        Collections.singletonList((motor) -> (motor).getOutputCurrent() > currentThreshold));
+        Collections.singletonList((motor) -> {
+          if (motor instanceof TalonSRX) {
+            return ((TalonSRX) motor).getOutputCurrent() > currentThreshold;
+          } else {
+            return true;
+          }
+        }));
   }
 
   /**
@@ -60,7 +67,8 @@ public EncoderTester(List<IMotorController> motorsToTest) {
   @SuppressWarnings("WeakerAccess")
   public Boolean testEncoder(IMotorController controller) {
     // Do the wrappers provide pidIdx nicely? Yes. Can we just use zero? Also probably yes.
-    return controller.getOutputCurrent() > currentThreshold
+    return (controller instanceof TalonSRX
+        && ((TalonSRX) controller).getOutputCurrent() > currentThreshold)
         && Math.abs(controller.getSelectedSensorVelocity(0)) < velocityThreshold;
   }
 
@@ -127,19 +135,11 @@ public void setVelocityThreshold(double velocityThreshold) {
    */
   @Override
   public void initSendable(SendableBuilder builder) {
-    //noinspection Duplicates
     for (IMotorController t : getItemsToTest()) {
       // Get the most recent value if present, else simply don't add it to the builder
-      //noinspection Duplicates
-      builder.addBooleanProperty(t.getDeviceID() + "", () -> {
-        // TODO probably cleaner version of this, at the least ifPresentOrElse() in Java 9
-        Optional<ResultWithMetadata<Boolean>> result = Optional.ofNullable(peekMostRecentResult(t));
-        if (result.isPresent()) {
-          return result.get().getResult();
-        } else {
-          return false;
-        }
-      }, null);
+      builder.addBooleanProperty(t.getDeviceID() + "",
+          () -> Optional.ofNullable(peekMostRecentResult(t))
+              .map(ResultWithMetadata::getResult).orElse(false), null);
     }
   }
 }
diff --git a/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java b/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
index b5d6cfdb..967287c5 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/SimpleControllersTester.java
@@ -22,6 +22,7 @@
  * the motor in the SmartDashboard or move next/previous with buttons and control the percent
  * output of the motor with a joystick axis.
  */
+@SuppressWarnings("unused")
 public class SimpleControllersTester extends Command implements Sendable {
 
   private static final int DEFAULT_JOYSTICK_ID = 0;
@@ -49,6 +50,7 @@ public class SimpleControllersTester extends Command implements Sendable {
    *
    * @param controllers The {@link IMotorController IMotorControllers} to test.
    */
+  @SuppressWarnings({"SpellCheckingInspection", "unused"})
   public SimpleControllersTester(IMotorController... controllers) {
     this(new Joystick(DEFAULT_JOYSTICK_ID), DEFAULT_AXIS_ID, DEFAULT_NEXT_BUTTON_ID,
         DEFAULT_PREVIOUS_BUTTON_ID, controllers);
@@ -83,10 +85,10 @@ public SimpleControllersTester(Joystick joystick, int axisId, int nextButtonId,
 
     // Add a chooser that you can use to select the controller and initialize it to null,
     // corresponding with buttons should be used
-    this.controllerChooser.addObject("Use buttons", null);
+    this.controllerChooser.addOption("Use buttons", null);
     for (IMotorController controller : controllers) {
       this.controllers.put(controller.getDeviceID(), controller);
-      this.controllerChooser.addObject(String.valueOf(controller.getDeviceID()),
+      this.controllerChooser.addOption(String.valueOf(controller.getDeviceID()),
           controller.getDeviceID());
       controller.setNeutralMode(NeutralMode.Coast);
     }
@@ -152,7 +154,7 @@ public void initSendable(SendableBuilder builder) {
    * active {@link IMotorController} and information about the tester. Follows a builder pattern.
    * @return This {@code SimpleControllersTester} in a builder pattern.
    */
-  @SuppressWarnings("UnusedReturnValue")
+  @SuppressWarnings({"UnusedReturnValue", "SpellCheckingInspection"})
   @Contract(" -> this")
   public SimpleControllersTester addAllSendables() {
     SmartDashboard.putData("Controller tester info", this);

From 81005f3238f5aba852a35484cbe882eddb4cab9e Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Mon, 7 Jan 2019 15:29:36 -0800
Subject: [PATCH 23/29] Migrate all testers to ChickenTalon

RIP Victors. However, for our use case, we probably don't actually need them.
---
 .../rooster/testers/motor/BurnoutTester.java  | 25 ++++++------
 .../testers/motor/ControllersMultiTester.java | 39 ++++++++-----------
 .../rooster/testers/motor/EncoderTester.java  | 34 +++++++---------
 3 files changed, 42 insertions(+), 56 deletions(-)

diff --git a/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java b/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
index cf18447c..19c24b61 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/BurnoutTester.java
@@ -1,6 +1,5 @@
 package org.team1540.rooster.testers.motor;
 
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import java.util.Arrays;
@@ -10,13 +9,14 @@
 import org.apache.commons.math3.stat.descriptive.rank.Median;
 import org.team1540.rooster.testers.AbstractTester;
 import org.team1540.rooster.testers.ResultWithMetadata;
+import org.team1540.rooster.wrappers.ChickenTalon;
 
 /**
  * Reports motor burnouts by comparing the current draw across a series of similarly-purposed
  * motors and reporting low outliers or checking if a single motor is below the cutoff.
  */
 @SuppressWarnings("unused")
-public class BurnoutTester extends AbstractTester<TalonSRX, Boolean> implements Sendable {
+public class BurnoutTester extends AbstractTester<ChickenTalon, Boolean> implements Sendable {
 
   private static final Median medianCalculator = new Median();
   private static final StandardDeviation stdDevCalculator = new StandardDeviation();
@@ -30,27 +30,28 @@ public class BurnoutTester extends AbstractTester<TalonSRX, Boolean> implements
 
   /**
    * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(TalonSRX)} if there is more
-   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(TalonSRX)} if there is
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(ChickenTalon)} if there is more
+   * than one motor and {@link BurnoutTester#testBurnoutSingleMotor(ChickenTalon)} if there is
    * one or few motors. Equivalent to {@link BurnoutTester#BurnoutTester(List) EncoderTester
    * (Arrays.asList(motorsToTest))}.
    *
    * @param motorsToTest The motors to compare to each other.
    */
-  public BurnoutTester(TalonSRX... motorsToTest) {
+  @SuppressWarnings("WeakerAccess")
+  public BurnoutTester(ChickenTalon... motorsToTest) {
     this(Arrays.asList(motorsToTest));
   }
 
   /**
    * Construct a new instance with the default logTime of 150 seconds and an update delay of 500
-   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(TalonSRX)} if there are more
-   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(TalonSRX)} if there two
+   * ms, using the {@link BurnoutTester#testBurnoutMultiMotor(ChickenTalon)} if there are more
+   * than two motor sand {@link BurnoutTester#testBurnoutSingleMotor(ChickenTalon)} if there two
    * two or few motors.
    *
    * @param motorsToTest The motors to compare to each other.
    */
   @SuppressWarnings("WeakerAccess")
-  public BurnoutTester(List<TalonSRX> motorsToTest) {
+  public BurnoutTester(List<ChickenTalon> motorsToTest) {
     // Because passing in a reference to a non-static method in the constructor doesn't work.
     super((stupid) -> null, motorsToTest, null, 150, 500);
     this.setTest(motorsToTest.size() > 2 ? this::testBurnoutMultiMotor :
@@ -64,7 +65,7 @@ public BurnoutTester(List<TalonSRX> motorsToTest) {
    * @return Boolean indicating burnout.
    */
   @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutMultiMotor(TalonSRX controller) {
+  public boolean testBurnoutMultiMotor(ChickenTalon controller) {
     return controller.getOutputCurrent() < (this.medianCurrent - 1 * this.stdDevCurrent);
   }
 
@@ -76,7 +77,7 @@ public boolean testBurnoutMultiMotor(TalonSRX controller) {
    * @return Boolean indicating burnout.
    */
   @SuppressWarnings("WeakerAccess")
-  public boolean testBurnoutSingleMotor(TalonSRX controller) {
+  public boolean testBurnoutSingleMotor(ChickenTalon controller) {
     return controller.getMotorOutputPercent() > percentOutputCutoff
         && controller.getOutputCurrent() < currentCutoff;
   }
@@ -86,7 +87,7 @@ public boolean testBurnoutSingleMotor(TalonSRX controller) {
    */
   @Override
   protected void periodic() {
-    double[] currents = getItemsToTest().stream().mapToDouble(TalonSRX::getOutputCurrent)
+    double[] currents = getItemsToTest().stream().mapToDouble(ChickenTalon::getOutputCurrent)
         .toArray();
     medianCurrent = medianCalculator.evaluate(currents);
     stdDevCurrent = stdDevCalculator.evaluate(currents);
@@ -155,7 +156,7 @@ public void setPercentOutputCutoff(double percentOutputCutoff) {
    */
   @Override
   public void initSendable(SendableBuilder builder) {
-    for (TalonSRX t : getItemsToTest()) {
+    for (ChickenTalon t : getItemsToTest()) {
       // Get the most recent value if present, else simply don't add it to the builder
       builder.addBooleanProperty(t.getDeviceID() + "",
           () -> Optional.ofNullable(peekMostRecentResult(t))
diff --git a/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java b/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
index 5ad569b4..3214968b 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/ControllersMultiTester.java
@@ -1,19 +1,15 @@
 package org.team1540.rooster.testers.motor;
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.IMotorController;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.github.oxo42.stateless4j.StateMachine;
 import com.github.oxo42.stateless4j.StateMachineConfig;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
-import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.Consumer;
-import java.util.stream.Collectors;
 import org.team1540.rooster.testers.AbstractTester;
 import org.team1540.rooster.testers.ResultWithMetadata;
 import org.team1540.rooster.wrappers.ChickenTalon;
@@ -32,7 +28,7 @@ public class ControllersMultiTester extends Command {
 
   /**
    * Default constructor. Note that this class follows a builder pattern; use
-   * {@link #addControllerGroup(IMotorController...)} and
+   * {@link #addControllerGroup(ChickenTalon...)} and
    * {@link #addEncoderGroup(ChickenTalon...)} to add the motors.
    */
   public ControllersMultiTester() {
@@ -42,7 +38,7 @@ public ControllersMultiTester() {
     stateMachineConfig.configure(State.SPIN_UP)
         .permit(Trigger.TIME_HAS_PASSED, State.EXECUTING)
         .onEntry(() -> {
-          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
+          for (ChickenTalon motor : tests.get(index).getTest().getItemsToTest()) {
             tests.get(index).getFunction().accept(motor);
           }
         });
@@ -54,7 +50,7 @@ public ControllersMultiTester() {
         .permit(Trigger.TIME_HAS_PASSED, State.SPIN_UP)
         .permit(Trigger.FINISHED, State.FINISHED)
         .onEntry(() -> {
-          for (IMotorController motor : tests.get(index).getTest().getItemsToTest()) {
+          for (ChickenTalon motor : tests.get(index).getTest().getItemsToTest()) {
             motor.set(ControlMode.PercentOutput, 0);
           }
           index++;
@@ -71,7 +67,7 @@ public ControllersMultiTester() {
    * @return this
    */
   @SuppressWarnings("WeakerAccess")
-  public ControllersMultiTester addControllerGroup(IMotorController... controllerGroup) {
+  public ControllersMultiTester addControllerGroup(ChickenTalon... controllerGroup) {
     addControllerGroup(this::setMotorToFull, controllerGroup);
     return this;
   }
@@ -84,12 +80,9 @@ public ControllersMultiTester addControllerGroup(IMotorController... controllerG
    * @return this
    */
   @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
-  public ControllersMultiTester addControllerGroup(Consumer<IMotorController> function,
-      IMotorController... controllerGroup) {
-    List<TalonSRX> talons =
-        Arrays.stream(controllerGroup).filter(TalonSRX.class::isInstance).map(TalonSRX.class::cast)
-            .collect(Collectors.toList());
-    tests.add(new TesterAndCommand(new BurnoutTester(talons), function));
+  public ControllersMultiTester addControllerGroup(Consumer<ChickenTalon> function,
+      ChickenTalon... controllerGroup) {
+    tests.add(new TesterAndCommand(new BurnoutTester(controllerGroup), function));
     return this;
   }
 
@@ -113,7 +106,7 @@ public ControllersMultiTester addEncoderGroup(ChickenTalon... controllerGroup) {
    * @return this
    */
   @SuppressWarnings({"UnusedReturnValue", "WeakerAccess"})
-  public ControllersMultiTester addEncoderGroup(Consumer<IMotorController> function,
+  public ControllersMultiTester addEncoderGroup(Consumer<ChickenTalon> function,
       ChickenTalon... controllerGroup) {
     tests.add(new TesterAndCommand(new EncoderTester(controllerGroup), function));
     return this;
@@ -142,7 +135,7 @@ protected void execute() {
   protected void end() {
     // Very optimized yes no duplicate code either
     for (TesterAndCommand testerAndCommand : tests) {
-      for (IMotorController controller : testerAndCommand.getTest().getItemsToTest()) {
+      for (ChickenTalon controller : testerAndCommand.getTest().getItemsToTest()) {
         int failureCount = 0;
         for (ResultWithMetadata<Boolean> result : testerAndCommand.getTest()
             .getStoredResults(controller)) {
@@ -165,7 +158,7 @@ protected boolean isFinished() {
     return stateMachine.getState().equals(State.FINISHED);
   }
 
-  private void setMotorToFull(IMotorController motor) {
+  private void setMotorToFull(ChickenTalon motor) {
     motor.setNeutralMode(NeutralMode.Coast);
     motor.set(ControlMode.PercentOutput, 1.0);
   }
@@ -194,21 +187,21 @@ private enum Trigger {
 
   private class TesterAndCommand {
 
-    private AbstractTester<IMotorController, Boolean> test;
-    private Consumer<IMotorController> function;
+    private AbstractTester<ChickenTalon, Boolean> test;
+    private Consumer<ChickenTalon> function;
 
     private TesterAndCommand(
-        AbstractTester<IMotorController, Boolean> test,
-        Consumer<IMotorController> function) {
+        AbstractTester<ChickenTalon, Boolean> test,
+        Consumer<ChickenTalon> function) {
       this.test = test;
       this.function = function;
     }
 
-    private AbstractTester<IMotorController, Boolean> getTest() {
+    private AbstractTester<ChickenTalon, Boolean> getTest() {
       return test;
     }
 
-    private Consumer<IMotorController> getFunction() {
+    private Consumer<ChickenTalon> getFunction() {
       return function;
     }
   }
diff --git a/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java b/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
index 5b85a805..4b4d9805 100644
--- a/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
+++ b/src/main/java/org/team1540/rooster/testers/motor/EncoderTester.java
@@ -1,7 +1,5 @@
 package org.team1540.rooster.testers.motor;
 
-import com.ctre.phoenix.motorcontrol.IMotorController;
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import java.util.Arrays;
@@ -10,13 +8,14 @@
 import java.util.Optional;
 import org.team1540.rooster.testers.AbstractTester;
 import org.team1540.rooster.testers.ResultWithMetadata;
+import org.team1540.rooster.wrappers.ChickenTalon;
 
 /**
  * Reports if an encoder appears to be non-functional by checking to see if a motor is running
  * and if the corresponding encoder is moving.
  */
 @SuppressWarnings("unused")
-public class EncoderTester extends AbstractTester<IMotorController, Boolean> implements Sendable {
+public class EncoderTester extends AbstractTester<ChickenTalon, Boolean> implements Sendable {
 
   private String name = "EncoderTester";
 
@@ -28,47 +27,40 @@ public class EncoderTester extends AbstractTester<IMotorController, Boolean> imp
    * ms. Equivalent to {@link EncoderTester#EncoderTester(List) EncoderTester(Arrays.asList
    * (motorsToTest))}.
    *
-   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
+   * @param motorsToTest The {@link ChickenTalon ChickenTalons} to compare to each other.
    */
   @SuppressWarnings("WeakerAccess")
-  public EncoderTester(IMotorController... motorsToTest) {
+  public EncoderTester(ChickenTalon... motorsToTest) {
     this(Arrays.asList(motorsToTest));
   }
 
   /**
    * Construct a new instance with the default logTime of 150 seconds and an update delay of 500 ms.
    *
-   * @param motorsToTest The {@link IMotorController IMotorControllers} to compare to each other.
+   * @param motorsToTest The {@link ChickenTalon ChickenTalons} to compare to each other.
    */
   @SuppressWarnings("WeakerAccess")
-  public EncoderTester(List<IMotorController> motorsToTest) {
+  public EncoderTester(List<ChickenTalon> motorsToTest) {
     // Because passing in a reference to a non-static method in the constructor doesn't work.
     // Test will run if the motor is drawing over 1A of current if telemetry is available, or else,
     super((stupid) -> null, motorsToTest, null, 150, 500);
     this.setTest(this::testEncoder);
     this.setRunConditions(
-        Collections.singletonList((motor) -> {
-          if (motor instanceof TalonSRX) {
-            return ((TalonSRX) motor).getOutputCurrent() > currentThreshold;
-          } else {
-            return true;
-          }
-        }));
+        Collections.singletonList((motor) -> motor.getOutputCurrent() > currentThreshold));
   }
 
   /**
    * Tests to see if the encoder is working by checking to see if the controller is drawing more
-   * than 1 amp and if the selected {@link IMotorController} is moving at a velocity of less than 5.
+   * than 1 amp and if the selected {@link ChickenTalon} is moving at a velocity of less than 5.
    *
-   * @param controller The {@link IMotorController} to test for burnout.
+   * @param controller The {@link ChickenTalon} to test for burnout.
    * @return Boolean indicating if the encoder is encoder has failed: true if it is suspected
    * of failure, false if it is not suspected of failure.
    */
   @SuppressWarnings("WeakerAccess")
-  public Boolean testEncoder(IMotorController controller) {
+  public Boolean testEncoder(ChickenTalon controller) {
     // Do the wrappers provide pidIdx nicely? Yes. Can we just use zero? Also probably yes.
-    return (controller instanceof TalonSRX
-        && ((TalonSRX) controller).getOutputCurrent() > currentThreshold)
+    return controller.getOutputCurrent() > currentThreshold
         && Math.abs(controller.getSelectedSensorVelocity(0)) < velocityThreshold;
   }
 
@@ -129,13 +121,13 @@ public void setVelocityThreshold(double velocityThreshold) {
   }
 
   /**
-   * Displays the current status of each {@link IMotorController}.
+   * Displays the current status of each {@link ChickenTalon}.
    *
    * @param builder The {@link SendableBuilder} to use.
    */
   @Override
   public void initSendable(SendableBuilder builder) {
-    for (IMotorController t : getItemsToTest()) {
+    for (ChickenTalon t : getItemsToTest()) {
       // Get the most recent value if present, else simply don't add it to the builder
       builder.addBooleanProperty(t.getDeviceID() + "",
           () -> Optional.ofNullable(peekMostRecentResult(t))

From 0283c55056ced21a308da4286df6ad1054da6ebd Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Mon, 7 Jan 2019 16:03:55 -0800
Subject: [PATCH 24/29] Fix ChickenController

Correct inheritance, update annotations and suppression to match.
---
 .../rooster/wrappers/ChickenController.java   | 168 +-----------------
 .../rooster/wrappers/ChickenTalon.java        |  30 +---
 .../rooster/wrappers/ChickenVictor.java       |  70 +++++++-
 3 files changed, 71 insertions(+), 197 deletions(-)

diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
index 06aa9b91..a650b7c6 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
@@ -14,6 +14,7 @@
 import com.ctre.phoenix.motorcontrol.StatusFrame;
 import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 
+@SuppressWarnings({"unused", "UnusedReturnValue"})
 public interface ChickenController extends IMotorController {
 
   ErrorCode clearMotionProfileHasUnderrun();
@@ -355,32 +356,6 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   ErrorCode config_kP(int slotIdx, double value);
 
-  /**
-   * Get the position of whatever is in the analog pin of the Talon,
-   * regardless of whether it is actually being used for feedback.
-   *
-   * @return the 24bit analog value. The bottom ten bits is the ADC (0 - 1023)
-   * on the analog pin of the Talon. The upper 14 bits tracks the
-   * overflows and underflows (continuous sensor).
-   */
-  int getAnalogIn();
-
-  /**
-   * Get the position of whatever is in the analog pin of the Talon,
-   * regardless of whether it is actually being used for feedback.
-   *
-   * @return the ADC (0 - 1023) on analog pin of the Talon.
-   */
-  int getAnalogInRaw();
-
-  /**
-   * Get the position of whatever is in the analog pin of the Talon,
-   * regardless of whether it is actually being used for feedback.
-   *
-   * @return the value (0 - 1023) on the analog pin of the Talon.
-   */
-  int getAnalogInVel();
-
   /**
    * Gets the closed-loop error.
    *
@@ -438,85 +413,6 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   double getIntegralAccumulator();
 
-  /**
-   * Gets pin state quad a.
-   *
-   * @return the pin state quad a.
-   */
-  boolean getPinStateQuadA();
-
-  /**
-   * Gets pin state quad b.
-   *
-   * @return Digital level of QUADB pin.
-   */
-  boolean getPinStateQuadB();
-
-  /**
-   * Gets pin state quad index.
-   *
-   * @return Digital level of QUAD Index pin.
-   */
-  boolean getPinStateQuadIdx();
-
-  /**
-   * Gets pulse width position.
-   *
-   * @return the pulse width position.
-   */
-  int getPulseWidthPosition();
-
-  /**
-   * Gets pulse width rise to fall us.
-   *
-   * @return the pulse width rise to fall us.
-   */
-  int getPulseWidthRiseToFallUs();
-
-  /**
-   * Gets pulse width rise to rise us.
-   *
-   * @return the pulse width rise to rise us.
-   */
-  int getPulseWidthRiseToRiseUs();
-
-  /**
-   * Gets pulse width velocity.
-   *
-   * @return the pulse width velocity.
-   */
-  int getPulseWidthVelocity();
-
-  /**
-   * Get the position of whatever is in the analog pin of the Talon,
-   * regardless of whether it is actually being used for feedback.
-   *
-   * @return the Error code of the request.
-   */
-  int getQuadraturePosition();
-
-  /**
-   * Get the position of whatever is in the analog pin of the Talon,
-   * regardless of whether it is actually being used for feedback.
-   *
-   * @return the value (0 - 1023) on the analog pin of the Talon.
-   */
-  int getQuadratureVelocity();
-
-  /**
-   * Get the selected sensor position.
-   *
-   * @return Position of selected sensor in raw sensor units per decisecond.
-   */
-  int getSelectedSensorPosition();
-
-  /**
-   * Get the selected sensor velocity.
-   *
-   * @return Velocity of selected sensor in raw sensor units per decisecond.
-   */
-  int getSelectedSensorVelocity();
-
   int getStatusFramePeriod(StatusFrameEnhanced frame);
 
   /**
@@ -535,24 +431,6 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   int getStatusFramePeriod(StatusFrame frame);
 
-  /**
-   * Is forward limit switch closed.
-   *
-   * @return '1' iff forward limit switch is closed, 0 iff switch is open.
-   * This function works regardless if limit switch feature is
-   * enabled.
-   */
-  boolean isFwdLimitSwitchClosed();
-
-  /**
-   * Is reverse limit switch closed.
-   *
-   * @return '1' iff reverse limit switch is closed, 0 iff switch is open.
-   * This function works regardless if limit switch feature is
-   * enabled.
-   */
-  boolean isRevLimitSwitchClosed();
-
   /**
    * Selects which profile slot to use for closed-loop control.
    *
@@ -574,14 +452,6 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   void set(double outputValue);
 
-  /**
-   * Sets analog position.
-   *
-   * @param newPosition The new position.
-   * @return an ErrorCode.
-   */
-  ErrorCode setAnalogPosition(int newPosition);
-
   /**
    * Sets the mode of operation during neutral throttle output.
    *
@@ -606,42 +476,6 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   ErrorCode setIntegralAccumulator(double iaccum);
 
-  /**
-   * Sets pulse width position.
-   *
-   * @param newPosition The position value to apply to the sensor.
-   * @return an ErrErrorCode
-   */
-  ErrorCode setPulseWidthPosition(int newPosition);
-
-  /**
-   * Change the quadrature reported position. Typically this is used to "zero"
-   * the sensor. This only works with Quadrature sensor. To set the selected
-   * sensor position regardless of what type it is, see
-   * SetSelectedSensorPosition in the motor controller class.
-   *
-   * @param newPosition The position value to apply to the sensor.
-   * @return error code.
-   */
-  ErrorCode setQuadraturePosition(int newPosition);
-
-  /**
-   * Sets the sensor position to the given value.
-   *
-   * @param sensorPos Position to set for the selected sensor (in Raw Sensor Units).
-   * @param pidIdx The PID IDX to use.
-   * @return Error Code generated by function. 0 indicates no error.
-   */
-  ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx);
-
-  /**
-   * Sets the sensor position to the given value.
-   *
-   * @param sensorPos Position to set for the selected sensor (in Raw Sensor Units).
-   * @return Error Code generated by function. 0 indicates no error.
-   */
-  ErrorCode setSelectedSensorPosition(int sensorPos);
-
   /**
    * Sets the period of the given status frame.
    *
diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java b/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
index b46a851a..dbca19fc 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenTalon.java
@@ -20,6 +20,7 @@
  * Wrapper around a {@link TalonSRX} adding some features (that really should already be there) as
  * well as making functions easier to call.
  */
+@SuppressWarnings({"unused", "WeakerAccess"})
 public class ChickenTalon extends TalonSRX implements ChickenController {
 
   ControlMode controlMode = ControlMode.PercentOutput;
@@ -507,7 +508,6 @@ public ErrorCode config_kP(int slotIdx, double value) {
    * @return the 24bit analog value. The bottom ten bits is the ADC (0 - 1023) on the analog pin of
    * the Talon. The upper 14 bits tracks the overflows and underflows (continuous sensor).
    */
-  @Override
   public int getAnalogIn() {
     return getSensorCollection().getAnalogIn();
   }
@@ -518,7 +518,6 @@ public int getAnalogIn() {
    *
    * @return the ADC (0 - 1023) on analog pin of the Talon.
    */
-  @Override
   public int getAnalogInRaw() {
     return getSensorCollection().getAnalogInRaw();
   }
@@ -529,7 +528,6 @@ public int getAnalogInRaw() {
    *
    * @return the value (0 - 1023) on the analog pin of the Talon.
    */
-  @Override
   public int getAnalogInVel() {
     return getSensorCollection().getAnalogInVel();
   }
@@ -628,7 +626,6 @@ public double getIntegralAccumulator() {
    *
    * @return the pin state quad a.
    */
-  @Override
   public boolean getPinStateQuadA() {
     return getSensorCollection().getPinStateQuadA();
   }
@@ -638,7 +635,6 @@ public boolean getPinStateQuadA() {
    *
    * @return Digital level of QUADB pin.
    */
-  @Override
   public boolean getPinStateQuadB() {
     return getSensorCollection().getPinStateQuadB();
   }
@@ -648,7 +644,6 @@ public boolean getPinStateQuadB() {
    *
    * @return Digital level of QUAD Index pin.
    */
-  @Override
   public boolean getPinStateQuadIdx() {
     return getSensorCollection().getPinStateQuadIdx();
   }
@@ -658,7 +653,6 @@ public boolean getPinStateQuadIdx() {
    *
    * @return the pulse width position.
    */
-  @Override
   public int getPulseWidthPosition() {
     return getSensorCollection().getPulseWidthPosition();
   }
@@ -668,7 +662,6 @@ public int getPulseWidthPosition() {
    *
    * @return the pulse width rise to fall us.
    */
-  @Override
   public int getPulseWidthRiseToFallUs() {
     return getSensorCollection().getPulseWidthRiseToFallUs();
   }
@@ -678,7 +671,6 @@ public int getPulseWidthRiseToFallUs() {
    *
    * @return the pulse width rise to rise us.
    */
-  @Override
   public int getPulseWidthRiseToRiseUs() {
     return getSensorCollection().getPulseWidthRiseToRiseUs();
   }
@@ -688,7 +680,6 @@ public int getPulseWidthRiseToRiseUs() {
    *
    * @return the pulse width velocity.
    */
-  @Override
   public int getPulseWidthVelocity() {
     return getSensorCollection().getPulseWidthVelocity();
   }
@@ -699,7 +690,6 @@ public int getPulseWidthVelocity() {
    *
    * @return the Error code of the request.
    */
-  @Override
   public int getQuadraturePosition() {
     return getSensorCollection().getQuadraturePosition();
   }
@@ -710,7 +700,6 @@ public int getQuadraturePosition() {
    *
    * @return the value (0 - 1023) on the analog pin of the Talon.
    */
-  @Override
   public int getQuadratureVelocity() {
     return getSensorCollection().getQuadratureVelocity();
   }
@@ -768,7 +757,6 @@ public int getStatusFramePeriod(StatusFrame frame) {
    * @return '1' iff forward limit switch is closed, 0 iff switch is open. This function works
    * regardless if limit switch feature is enabled.
    */
-  @Override
   public boolean isFwdLimitSwitchClosed() {
     return getSensorCollection().isFwdLimitSwitchClosed();
   }
@@ -779,7 +767,6 @@ public boolean isFwdLimitSwitchClosed() {
    * @return '1' iff reverse limit switch is closed, 0 iff switch is open. This function works
    * regardless if limit switch feature is enabled.
    */
-  @Override
   public boolean isRevLimitSwitchClosed() {
     return getSensorCollection().isRevLimitSwitchClosed();
   }
@@ -815,7 +802,6 @@ public void set(double outputValue) {
    * @param newPosition The new position.
    * @return an ErrorCode.
    */
-  @Override
   public ErrorCode setAnalogPosition(int newPosition) {
     return getSensorCollection().setAnalogPosition(newPosition, defaultTimeoutMs);
   }
@@ -859,7 +845,6 @@ public ErrorCode setIntegralAccumulator(double iaccum) {
    * @param newPosition The position value to apply to the sensor.
    * @return an ErrErrorCode
    */
-  @Override
   public ErrorCode setPulseWidthPosition(int newPosition) {
     return getSensorCollection().setPulseWidthPosition(newPosition, defaultTimeoutMs);
   }
@@ -872,7 +857,6 @@ public ErrorCode setPulseWidthPosition(int newPosition) {
    * @param newPosition The position value to apply to the sensor.
    * @return error code.
    */
-  @Override
   public ErrorCode setQuadraturePosition(int newPosition) {
     return getSensorCollection().setQuadraturePosition(newPosition, defaultTimeoutMs);
   }
@@ -884,7 +868,6 @@ public ErrorCode setQuadraturePosition(int newPosition) {
    * @param pidIdx The PID IDX to use.
    * @return Error Code generated by function. 0 indicates no error.
    */
-  @Override
   public ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx) {
     return super.setSelectedSensorPosition(sensorPos, pidIdx, defaultTimeoutMs);
   }
@@ -942,7 +925,6 @@ public void setControlMode(int mode) {
   /**
    * @deprecated Use {@link #setControlMode(ControlMode)}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void changeControlMode(TalonControlMode controlMode) {
     if (controlMode.ctrl != null) {
@@ -1019,7 +1001,6 @@ public void enableBrakeMode(boolean brake) {
    * @param codesPerRev The number of counts per revolution.
    * @deprecated Functionality removed.
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void configEncoderCodesPerRev(int codesPerRev) {
     this.setEncoderCodesPerRev(codesPerRev);
@@ -1049,7 +1030,6 @@ public void setPosition(double pos) {
   /**
    * @deprecated Use {@link #configSelectedFeedbackSensor(FeedbackDevice)}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void setFeedbackDevice(FeedbackDevice device) {
     configSelectedFeedbackSensor(device);
@@ -1092,7 +1072,6 @@ public int getEncPosition() {
    *
    * @deprecated Use {@link #getQuadratureVelocity()}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public int getEncVelocity() {
     return getQuadratureVelocity();
@@ -1116,7 +1095,6 @@ public double getError() {
    * @param flip True if motor output should be flipped; False if not.
    * @deprecated Use {@link #setInverted(boolean)}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void reverseOutput(boolean flip) {
     setInverted(flip);
@@ -1130,7 +1108,6 @@ public void reverseOutput(boolean flip) {
    * @param flip True if sensor input should be flipped; False if not.
    * @deprecated Use {@link #setSensorPhase(boolean)}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   public void reverseSensor(boolean flip) {
     setSensorPhase(flip);
   }
@@ -1139,7 +1116,6 @@ public void reverseSensor(boolean flip) {
    * @deprecated Use {@link #configNominalOutputForward(double)} and
    * {@link #configNominalOutputReverse(double)}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void configNominalOutputVoltage(double forwardVoltage, double reverseVoltage) {
     configNominalOutputForward(forwardVoltage / 12);
@@ -1169,7 +1145,6 @@ public void setSetpoint(double setpoint) {
    * @deprecated Use {@link #configPeakOutputForward(double) and
    * {@link #configPeakOutputReverse(double)}}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public void configPeakOutputVoltage(double forwardVoltage, double reverseVoltage) {
     configPeakOutputForward(forwardVoltage / 12);
@@ -1180,7 +1155,6 @@ public void configPeakOutputVoltage(double forwardVoltage, double reverseVoltage
    * @return The voltage being output by the Talon, in Volts.
    * @deprecated Use {@link #getMotorOutputVoltage()}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public double getOutputVoltage() {
     return getMotorOutputVoltage();
@@ -1197,7 +1171,6 @@ public double getOutputVoltage() {
    * @return The speed of the sensor currently providing feedback.
    * @deprecated Use {@link #getSelectedSensorVelocity()}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public double getSpeed() {
     return getSelectedSensorVelocity();
@@ -1206,7 +1179,6 @@ public double getSpeed() {
   /**
    * @deprecated Use {@link ControlMode}
    */
-  @SuppressWarnings("DeprecatedIsStillUsed")
   @Deprecated
   public enum TalonControlMode {
     PercentVbus(0, ControlMode.PercentOutput),
diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
index 335d8b8c..40c9f1bc 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
@@ -16,7 +16,8 @@
 import com.ctre.phoenix.motorcontrol.can.MotControllerJNI;
 import com.ctre.phoenix.motorcontrol.can.VictorSPX;
 
-public class ChickenVictor extends VictorSPX {
+@SuppressWarnings("unused")
+public class ChickenVictor extends VictorSPX implements ChickenController {
 
   ControlMode controlMode = ControlMode.PercentOutput;
   int defaultPidIdx = 0;
@@ -28,271 +29,335 @@ public ChickenVictor(int deviceNumber) {
     super(deviceNumber);
   }
 
+  @Override
   public ErrorCode clearMotionProfileHasUnderrun() {
     return super.clearMotionProfileHasUnderrun(defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode clearStickyFaults() {
     return super.clearStickyFaults(defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configAllowableClosedloopError(int slotIdx, int allowableClosedLoopError) {
     return super
         .configAllowableClosedloopError(slotIdx, allowableClosedLoopError, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configClosedloopRamp(double secondsFromNeutralToFull) {
     return super.configClosedloopRamp(secondsFromNeutralToFull, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configOpenloopRamp(double secondsFromNeutralToFull) {
     return super.configOpenloopRamp(secondsFromNeutralToFull, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configForwardLimitSwitchSource(LimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose) {
     return super.configForwardLimitSwitchSource(type, normalOpenOrClose, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configForwardLimitSwitchSource(RemoteLimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose, int deviceID) {
     return super
         .configForwardLimitSwitchSource(type, normalOpenOrClose, deviceID, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configForwardSoftLimitEnable(boolean enable) {
     return super.configForwardSoftLimitEnable(enable, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configForwardSoftLimitThreshold(int forwardSensorLimit) {
     return super.configForwardSoftLimitThreshold(forwardSensorLimit, defaultTimeoutMs);
   }
 
+  @Override
   public int configGetCustomParam(int paramIndex) {
     return super.configGetCustomParam(paramIndex, defaultTimeoutMs);
   }
 
+  @Override
   public double configGetParameter(ParamEnum param, int ordinal) {
     return super.configGetParameter(param, ordinal, defaultTimeoutMs);
   }
 
+  @Override
   public double configGetParameter(int param, int ordinal) {
     return super.configGetParameter(param, ordinal, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configMaxIntegralAccumulator(int slotIdx, double iaccum) {
     return super.configMaxIntegralAccumulator(slotIdx, iaccum, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configMotionAcceleration(int sensorUnitsPer100msPerSec) {
     return super.configMotionAcceleration(sensorUnitsPer100msPerSec, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configMotionCruiseVelocity(int sensorUnitsPer100ms) {
     return super.configMotionCruiseVelocity(sensorUnitsPer100ms, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configNeutralDeadband(double percentDeadband) {
     return super.configNeutralDeadband(percentDeadband, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configNominalOutputForward(double percentOut) {
     return super.configNominalOutputForward(percentOut, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configNominalOutputReverse(double percentOut) {
     return super.configNominalOutputReverse(percentOut, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configPeakOutputForward(double percentOut) {
     peakOutputForward = percentOut;
     return super.configPeakOutputForward(percentOut, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configPeakOutputReverse(double percentOut) {
     peakOutputReverse = percentOut;
     return super.configPeakOutputReverse(percentOut, defaultTimeoutMs);
   }
 
+  @Override
   public double getPeakOutputForward() {
     return peakOutputForward;
   }
 
+  @Override
   public double getPeakOutputReverse() {
     return peakOutputReverse;
   }
 
+  @Override
   public ErrorCode configRemoteFeedbackFilter(int deviceID, RemoteSensorSource remoteSensorSource,
       int remoteOrdinal) {
     return super
         .configRemoteFeedbackFilter(deviceID, remoteSensorSource, remoteOrdinal, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
       LimitSwitchNormal normalOpenOrClose, int deviceID) {
     return super
         .configReverseLimitSwitchSource(type, normalOpenOrClose, deviceID, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configReverseSoftLimitEnable(boolean enable) {
     return super.configReverseSoftLimitEnable(enable, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configReverseSoftLimitThreshold(int reverseSensorLimit) {
     return super.configReverseSoftLimitThreshold(reverseSensorLimit, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx) {
     return super.configSelectedFeedbackSensor(feedbackDevice, pidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice) {
     return super.configSelectedFeedbackSensor(feedbackDevice, defaultPidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice, int pidIdx) {
     return super.configSelectedFeedbackSensor(feedbackDevice, pidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSelectedFeedbackSensor(FeedbackDevice feedbackDevice) {
     return super.configSelectedFeedbackSensor(feedbackDevice, defaultPidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice) {
     return super.configSensorTerm(sensorTerm, feedbackDevice, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSetCustomParam(int newValue, int paramIndex) {
     return super.configSetCustomParam(newValue, paramIndex, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal) {
     return super.configSetParameter(param, value, subValue, ordinal, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configSetParameter(int param, double value, int subValue, int ordinal) {
     return super.configSetParameter(param, value, subValue, ordinal, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configVelocityMeasurementPeriod(int period) {
     int retval = MotControllerJNI
         .ConfigVelocityMeasurementPeriod(m_handle, period, defaultTimeoutMs);
     return ErrorCode.valueOf(retval);
   }
 
+  @Override
   public ErrorCode configVelocityMeasurementWindow(int windowSize) {
     return super.configVelocityMeasurementWindow(windowSize, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configVoltageCompSaturation(double voltage) {
     return super.configVoltageCompSaturation(voltage, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode configVoltageMeasurementFilter(int filterWindowSamples) {
     return super.configVoltageMeasurementFilter(filterWindowSamples, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode config_IntegralZone(int slotIdx, int izone) {
     return super.config_IntegralZone(slotIdx, izone, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode config_kD(int slotIdx, double value) {
     return super.config_kD(slotIdx, value, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode config_kF(int slotIdx, double value) {
     return super.config_kF(slotIdx, value, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode config_kI(int slotIdx, double value) {
     return super.config_kI(slotIdx, value, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode config_kP(int slotIdx, double value) {
     return super.config_kP(slotIdx, value, defaultTimeoutMs);
   }
 
+  @Override
   public int getClosedLoopError() {
     return super.getClosedLoopError(defaultPidIdx);
   }
 
+  @Override
   public ControlMode getControlMode() {
     return controlMode;
   }
 
+  @Override
   public void setControlMode(ControlMode controlMode) {
     this.controlMode = controlMode;
   }
 
+  @Override
   public int getDefaultPidIdx() {
     return defaultPidIdx;
   }
 
+  @Override
   public void setDefaultPidIdx(int defaultPidIdx) {
     this.defaultPidIdx = defaultPidIdx;
   }
 
+  @Override
   public int getDefaultTimeoutMs() {
     return defaultTimeoutMs;
   }
 
+  @Override
   public void setDefaultTimeoutMs(int defaultTimeoutMs) {
     this.defaultTimeoutMs = defaultTimeoutMs;
   }
 
+  @Override
   @Deprecated
   public double getEncoderCodesPerRev() {
     return 0;
   }
 
+  @Override
   @Deprecated
   public void setEncoderCodesPerRev(double encoderCodesPerRev) {
   }
 
+  @Override
   public double getErrorDerivative() {
     return super.getErrorDerivative(defaultPidIdx);
   }
 
+  @Override
   public double getIntegralAccumulator() {
     return super.getIntegralAccumulator(defaultPidIdx);
   }
 
+  @Override
   public int getSelectedSensorPosition() {
     return super.getSelectedSensorPosition(defaultPidIdx);
   }
 
+  @Override
   public int getSelectedSensorVelocity() {
     return super.getSelectedSensorVelocity(defaultPidIdx);
   }
 
+  @Override
   public int getStatusFramePeriod(StatusFrameEnhanced frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
+  @Override
   public int getStatusFramePeriod(int frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
+  @Override
   public int getStatusFramePeriod(StatusFrame frame) {
     return super.getStatusFramePeriod(frame, defaultTimeoutMs);
   }
 
+  @Override
   public void selectProfileSlot(int slotIdx) {
     super.selectProfileSlot(slotIdx, defaultPidIdx);
   }
 
+  @Override
   public void set(double outputValue) {
     super.set(controlMode, outputValue);
   }
 
+  @Override
   public void setBrake(boolean brake) {
     super.setNeutralMode(brake ? NeutralMode.Brake : NeutralMode.Coast);
   }
 
+  @Override
   public ErrorCode setIntegralAccumulator(double iaccum, int pidIdx) {
     return super.setIntegralAccumulator(iaccum, pidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode setIntegralAccumulator(double iaccum) {
     return super.setIntegralAccumulator(iaccum, defaultPidIdx, defaultTimeoutMs);
   }
@@ -301,14 +366,17 @@ public ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx) {
     return super.setSelectedSensorPosition(sensorPos, pidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode setSelectedSensorPosition(int sensorPos) {
     return super.setSelectedSensorPosition(sensorPos, defaultPidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode setStatusFramePeriod(int frameValue, int periodMs) {
     return super.setStatusFramePeriod(frameValue, periodMs, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs) {
     return super.setStatusFramePeriod(frame, periodMs, defaultTimeoutMs);
   }

From 620b270777e212487f26de34afb4ab4d6ea500ce Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Mon, 7 Jan 2019 18:54:34 -0800
Subject: [PATCH 25/29] Re-add getSelectedSensorVelocity

---
 .../org/team1540/rooster/wrappers/ChickenController.java   | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
index a650b7c6..558a3d3a 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
@@ -493,4 +493,11 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    * @return Error Code generated by function. 0 indicates no error.
    */
   ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs);
+
+  /**
+   * Get the selected sensor velocity.
+   *
+   * @return Velocity of selected sensor in raw sensor units per decisecond.
+   */
+  int getSelectedSensorVelocity();
 }

From d256c1690be00f0458958f10f925934881319198 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Mon, 7 Jan 2019 18:58:49 -0800
Subject: [PATCH 26/29] Update Travis deploy scripts

---
 .travis.yml                          | 4 ++--
 travis-scripts/name-release-files.sh | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)
 mode change 100755 => 100644 travis-scripts/name-release-files.sh

diff --git a/.travis.yml b/.travis.yml
index 417c2421..79dcc428 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,7 +22,7 @@ env:
 before_deploy: travis-scripts/name-release-files.sh
 deploy:
   - provider: pages # Javadoc deployment to Github Pages
-    local-dir: lib/build/docs/javadoc/
+    local-dir: build/docs/javadoc/
     skip-cleanup: true
     github-token: $GITHUB_TOKEN
     keep-history: true
@@ -31,7 +31,7 @@ deploy:
   - provider: releases # Automatic JAR file deployment whenever a release is created
     api_key: $GITHUB_TOKEN
     file-glob: true
-    file: lib/build/libs/*
+    file: build/libs/*
     skip-cleanup: true
     on:
       tags: true
diff --git a/travis-scripts/name-release-files.sh b/travis-scripts/name-release-files.sh
old mode 100755
new mode 100644
index eefec78c..25f8666c
--- a/travis-scripts/name-release-files.sh
+++ b/travis-scripts/name-release-files.sh
@@ -5,7 +5,7 @@ set -ev
 # check if $TRAVIS_TAG is set-if so, rename lib's output jars to make sense in preparation for uploading them to Github
 if [ -n "$TRAVIS_TAG" ]
 then
-  mv lib/build/libs/lib.jar "lib/build/libs/ROOSTER-$TRAVIS_TAG.jar"
-  mv lib/build/libs/lib-sources.jar "lib/build/libs/ROOSTER-$TRAVIS_TAG-sources.jar"
-  mv lib/build/libs/lib-javadoc.jar "lib/build/libs/ROOSTER-$TRAVIS_TAG-javadoc.jar"
+  mv lib/build/libs/lib.jar "build/libs/ROOSTER-$TRAVIS_TAG.jar"
+  mv lib/build/libs/lib-sources.jar "build/libs/ROOSTER-$TRAVIS_TAG-sources.jar"
+  mv lib/build/libs/lib-javadoc.jar "build/libs/ROOSTER-$TRAVIS_TAG-javadoc.jar"
 fi

From 2e72e1ea890aeec85a520226bbd10d5081975b54 Mon Sep 17 00:00:00 2001
From: Zachary Robinson <robinsonz@catlin.edu>
Date: Mon, 7 Jan 2019 19:02:26 -0800
Subject: [PATCH 27/29] Fix some Travis caching

Maybe not all, unsure
---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 79dcc428..297bfd93 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,8 +4,8 @@ jdk:
 before_cache:
   - rm -f  $HOME/.gradle/caches/modules-2/modules-2.lock
   - rm -fr $HOME/.gradle/caches/*/plugin-resolution/
-  - rm -f  $HOME/.gradle/caches/4.4/fileHashes/fileHashes.bin
-  - rm -f  $HOME/.gradle/caches/4.4/fileHashes/fileHashes.lock
+  - rm -f  $HOME/.gradle/caches/5.0/fileHashes/fileHashes.bin
+  - rm -f  $HOME/.gradle/caches/5.0/fileHashes/fileHashes.lock
 cache:
   directories:
   - "$HOME/.gradle/caches/"

From aa1ba97ae0b604cd6190d57c1a85f4761e2e7cfe Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Mon, 7 Jan 2019 19:05:42 -0800
Subject: [PATCH 28/29] Re-add getSelectedSensorPosition()

Also moved them back to their original position and fixed some doc.
---
 .../rooster/wrappers/ChickenController.java   | 21 ++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
index 558a3d3a..931720bb 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
@@ -413,6 +413,20 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   double getIntegralAccumulator();
 
+  /**
+   * Get the selected sensor position.
+   *
+   * @return Position of selected sensor in raw sensor units.
+   */
+  int getSelectedSensorPosition();
+
+  /**
+   * Get the selected sensor velocity.
+   *
+   * @return Velocity of selected sensor in raw sensor units per decisecond.
+   */
+  int getSelectedSensorVelocity();
+
   int getStatusFramePeriod(StatusFrameEnhanced frame);
 
   /**
@@ -493,11 +507,4 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    * @return Error Code generated by function. 0 indicates no error.
    */
   ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs);
-
-  /**
-   * Get the selected sensor velocity.
-   *
-   * @return Velocity of selected sensor in raw sensor units per decisecond.
-   */
-  int getSelectedSensorVelocity();
 }

From dfb3df66035c0f26d4ec1f1605dba9bd68cc876e Mon Sep 17 00:00:00 2001
From: edelmanjm <edelmanjm@users.noreply.github.com>
Date: Mon, 7 Jan 2019 19:08:57 -0800
Subject: [PATCH 29/29] Re-add setSelectedSensorPosition()

---
 .../rooster/wrappers/ChickenController.java     | 17 +++++++++++++++++
 .../rooster/wrappers/ChickenVictor.java         |  1 +
 2 files changed, 18 insertions(+)

diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
index 931720bb..698482c2 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenController.java
@@ -490,6 +490,23 @@ ErrorCode configReverseLimitSwitchSource(RemoteLimitSwitchSource type,
    */
   ErrorCode setIntegralAccumulator(double iaccum);
 
+  /**
+   * Sets the sensor position to the given value.
+   *
+   * @param sensorPos Position to set for the selected sensor (in Raw Sensor Units).
+   * @param pidIdx The PID IDX to use.
+   * @return Error Code generated by function. 0 indicates no error.
+   */
+  ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx);
+
+  /**
+   * Sets the sensor position to the given value.
+   *
+   * @param sensorPos Position to set for the selected sensor (in Raw Sensor Units).
+   * @return Error Code generated by function. 0 indicates no error.
+   */
+  ErrorCode setSelectedSensorPosition(int sensorPos);
+
   /**
    * Sets the period of the given status frame.
    *
diff --git a/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
index 40c9f1bc..4988c453 100644
--- a/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
+++ b/src/main/java/org/team1540/rooster/wrappers/ChickenVictor.java
@@ -362,6 +362,7 @@ public ErrorCode setIntegralAccumulator(double iaccum) {
     return super.setIntegralAccumulator(iaccum, defaultPidIdx, defaultTimeoutMs);
   }
 
+  @Override
   public ErrorCode setSelectedSensorPosition(int sensorPos, int pidIdx) {
     return super.setSelectedSensorPosition(sensorPos, pidIdx, defaultTimeoutMs);
   }