removed kscheduler dependency on kopmode and added photoncore

Author: neilmehra

Diff for: build.gradle

@@ -22,7 +22,7 @@ task clean(type: Delete) {
 allprojects {
     repositories {
         google()
-        jcenter()
+        mavenCentral()
     }
 }
 

Diff for: koawalib/build.gradle

@@ -65,7 +65,6 @@ configurations {
 
 dependencies {
     repositories {
-        jcenter()  // Needed for tensorflow-lite
         maven { url = 'https://maven.brott.dev/' }
         maven { url = 'https://jitpack.io' }
         maven { url "https://kotlin.bintray.com/kotlin-datascience" }
@@ -75,11 +74,8 @@ dependencies {
     implementation 'androidx.core:core-ktx:1.6.0'
     implementation 'androidx.appcompat:appcompat:1.3.0'
     implementation 'com.google.android.material:material:1.4.0'
-//    testImplementation 'junit:junit:4.13.2'
-//    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
-//    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
-//    implementation 'org.jetbrains.lets-plot:lets-plot-kotlin-jvm:3.1.1'
-//    implementation 'org.jetbrains.lets-plot:lets-plot-image-export:2.1.0'
+    compileOnly 'org.jetbrains.lets-plot:lets-plot-kotlin-jvm:3.1.1'
+    compileOnly 'org.jetbrains.lets-plot:lets-plot-image-export:2.1.0'
 
     implementation 'org.firstinspires.ftc:RobotCore:7.0.0'
 
@@ -88,9 +84,10 @@ dependencies {
     testImplementation 'org.jetbrains.kotlin:kotlin-test'
 
     implementation 'org.apache.commons:commons-math3:3.6.1'
-    implementation 'androidx.appcompat:appcompat:1.3.1'
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.3'
     implementation 'com.acmerobotics.roadrunner:core:0.5.4'
+    implementation 'com.github.Eeshwar-Krishnan:PhotonFTC:dev-SNAPSHOT'
+
 
 
     ktlint("com.pinterest:ktlint:0.42.1") {

Diff for: koawalib/src/main/kotlin/com/asiankoala/koawalib/command/KOpMode.kt

@@ -34,7 +34,7 @@ abstract class KOpMode : LinearOpMode() {
     private lateinit var voltageSensor: VoltageSensor
 
     private fun setup() {
-        KScheduler.opModeInstance = this
+        KScheduler.stateReceiver = { opmodeState }
 
         Logger.reset()
         Logger.telemetry = telemetry

Diff for: koawalib/src/main/kotlin/com/asiankoala/koawalib/command/KScheduler.kt

@@ -36,7 +36,7 @@ object KScheduler {
 
     private var amountOfWatchdogs = 0
 
-    internal lateinit var opModeInstance: KOpMode
+    internal lateinit var stateReceiver: () -> OpModeState
 
     internal fun resetScheduler() {
         allMaps.forEach(MutableMap<*, *>::clear)
@@ -137,7 +137,7 @@ object KScheduler {
     }
 
     private fun scheduleForState(state: OpModeState, cmd: Cmd) {
-        schedule(cmd.waitUntil { opModeInstance.opmodeState == state })
+        schedule(cmd.waitUntil { stateReceiver.invoke() == state })
     }
 
     /**

Diff for: koawalib/src/main/kotlin/com/asiankoala/koawalib/command/commands/Watchdog.kt

@@ -9,7 +9,7 @@ internal class Watchdog(
 ) : Cmd() {
 
     override fun execute() {
-        if (condition.invoke() && KScheduler.opModeInstance.opmodeState == OpModeState.LOOP) {
+        if (condition.invoke() && KScheduler.stateReceiver.invoke() == OpModeState.LOOP) {
             toSchedule.schedule()
         }
     }

Diff for: koawalib/src/main/kotlin/com/asiankoala/koawalib/hardware/motor/KMotorExTuner.kt

@@ -41,7 +41,7 @@ abstract class KMotorExTuner : KOpMode() {
         if (!kV.isNaN()) motor.settings.ff.kV = kV else kV = motor.settings.ff.kV
         if (!kA.isNaN()) motor.settings.ff.kA = kA else kA = motor.settings.ff.kA
         if (!kG.isNaN()) motor.settings.ff.kG = kG else kG = motor.settings.ff.kG
-        if (!kCos.isNaN()) motor.settings.ff.kCos = kCos else kCos = motor.settings.ff.kCos
+//        if (!kCos.isNaN()) motor.settings.ff.kCos = kCos else kCos = motor.settings.ff.kCos
         if (!kP.isNaN()) motor.settings.pid.kP = kP else kP = motor.settings.pid.kP
         if (!kI.isNaN()) motor.settings.pid.kI = kI else kI = motor.settings.pid.kI
         if (!kD.isNaN()) motor.settings.pid.kD = kD else kD = motor.settings.pid.kD

Diff for: koawalib/src/test/kotlin/com/asiankoala/koawalib/Random.kt

@@ -0,0 +1,21 @@
+package com.asiankoala.koawalib
+
+import kotlin.test.Test
+
+class Random {
+    enum class bruh {
+        a, b, c;
+        fun next(): bruh {
+            return values()[if(ordinal+1>values().size-1) 0 else ordinal+1]
+        }
+    }
+
+    @Test
+    fun m() {
+        val t = bruh.c
+        println(t.next())
+        println(t.next().next())
+        println(t.next().next().next())
+
+    }
+}