2.0.0 release

buildSrc/src/main/groovy/java-common-conventions.gradle

@@ -7,6 +7,7 @@ plugins {
     // Apply the java-library plugin for API and implementation separation.
     id 'java-library'
     id 'com.diffplug.spotless'
+    id 'idea'
 }
 
 java {
@@ -119,5 +120,23 @@ javadoc {
         links += "https://codedocs.revrobotics.com/java/"
         // PhotonVision
         links += "https://javadocs.photonvision.org/release/"
+
+        // Converts `@apiNote` paragraph to "Note: " section in the generated javadoc
+        tags += 'apiNote:a:Api Note:'
+
+        // Converts `@implSpec` paragraph to "Implementation Requirements: " section in the generated javadoc
+        tags += 'implSpec:a:Implementation Requirements:'
+    }
+}
+
+task sourceJar(type: Jar) {
+    from sourceSets.main.allJava
+    archiveClassifier = 'sources'
+}
+
+idea {
+    module {
+        downloadJavadoc = true
+        downloadSources = true
     }
 }

lib/build.gradle

@@ -1,10 +1,10 @@
 plugins {
     id 'java-common-conventions'
-    id 'edu.wpi.first.GradleRIO' version '2026.1.1-beta-1'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1'
     id 'maven-publish'
 }
 
-version = '2.0.0-alpha.1'
+version = '2.0.0'
 
 dependencies {
     implementation wpi.java.deps.wpilib()
@@ -39,20 +39,6 @@ tasks.named('test') {
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
-javadoc {
-    options.tags = [
-        // Converts `@apiNote` paragraph to "Note: " section in the generated javadoc
-        'apiNote:a:Api Note:',
-        // Converts `@implSpec` paragraph to "Implementation Requirements: " section in the generated javadoc
-        'implSpec:a:Implementation Requirements:'
-    ]
-}
-
-task sourceJar(type: Jar) {
-    from sourceSets.main.allJava
-    archiveClassifier = 'sources'
-}
-
 publishing {
     publications {
         lib2813(MavenPublication) {
@@ -63,13 +49,24 @@ publishing {
             pom {
                 name = '2813 Library'
                 description = 'Frequently reused code written by team 2813'
+                licenses {
+                    license {
+                        name = 'The Apache License, Version 2.0'
+                        url = 'http://www.apache.org/licenses/LICENSE-2.0.txt'
+                    }
+                }
                 developers {
                     developer {
                         id = 'mango'
-                        name = 'kyle'
+                        name = 'Kyle'
                         email = 'mangoiscute95@gmail.com'
                     }
                 }
+                scm {
+                    connection = 'scm:git:git://github.com/Prospect-Robotics/lib2813.git'
+                    developerConnection = 'scm:git:git://github.com/Prospect-Robotics/lib2813.git'
+                    url = 'https://team2813.com'
+                }
                 organization {
                     name = '2813 Gear Heads'
                     url = 'https://team2813.com'

lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java

@@ -119,6 +119,7 @@ public final void setSetpoint(T position) {
    * Returns a command that sets the desired setpoint to the provided value.
    *
    * @param setpoint the position to go to.
+   * @since 2.0.0
    */
   public final Command setSetpointCommand(T setpoint) {
     return new InstantCommand(() -> this.setSetpoint(setpoint), this);
@@ -168,6 +169,8 @@ public final void enable() {
    *
    * <p>The motor voltage will be set to zero, and the motor will not adjust to move towards the
    * current setpoint.
+   *
+   * @since 2.0.0
    */
   @Override
   public final void stopMotor() {
@@ -200,23 +203,13 @@ public final void set(ControlMode mode, double demand) {
     motor.set(mode, demand);
   }
 
-  /**
-   * Clamps the given output value and provides it to the motor.
-   *
-   * @param output The output calculated by the PID algorithm.
-   * @param setpoint Ignored.
-   */
-  private void useOutput(double output, double setpoint) {
-    motor.set(controlMode, clampOutput(output));
-  }
-
   /**
    * Clamps the given output value and provides it to the motor.
    *
    * <p>This is called by {@link #periodic()} if this subsystem is enabled.
    */
   private void useOutput(double output) {
-    useOutput(output, controller.getSetpoint());
+    motor.set(controlMode, clampOutput(output));
   }
 
   /**
@@ -227,6 +220,7 @@ private void useOutput(double output) {
    * @param output Output provided by the PID controller.
    * @return Output to provide to the motor.
    * @see edu.wpi.first.math.MathUtil#clamp(double, double, double)
+   * @since 2.0.0
    */
   protected double clampOutput(double output) {
     return output;
@@ -384,7 +378,12 @@ public MotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPosi
       return startingPosition(startingPositionSupplier.get());
     }
 
-    /** Sets the acceptable position error. */
+    /**
+     * Sets the acceptable position error.
+     *
+     * @param error the error which is considered tolerable for use with {@code }atPosition()}
+     * @return {@code this} for chaining
+     */
     public MotorSubsystemConfiguration acceptableError(double error) {
       this.acceptableError = error;
       return this;
@@ -393,14 +392,22 @@ public MotorSubsystemConfiguration acceptableError(double error) {
     /**
      * Sets the unit to use for PID calculations
      *
-     * @param rotationUnit The angle unit to use for calculations
+     * @param rotationUnit the angle unit to use for calculations
+     * @return {@code this} for chaining
      */
     public MotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit) {
       startingPosition = rotationUnit.convertFrom(startingPosition, this.rotationUnit);
       this.rotationUnit = rotationUnit;
       return this;
     }
 
+    /**
+     * Enables publishing of data to the provided network table instance.
+     *
+     * @param ntInstance the network table instance to publish to
+     * @return {@code this} for chaining
+     * @since 2.0.0
+     */
     public MotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance) {
       this.ntInstance = ntInstance;
       return this;

lib/src/main/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystem.java

@@ -22,6 +22,11 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+/**
+ * A subsystem for an intake.
+ *
+ * @since 2.0.0
+ */
 public abstract class ParameterizedIntakeSubsystem extends SubsystemBase implements AutoCloseable {
   private final Motor intakeMotor;
   private final Params params;

lib/src/main/java/com/team2813/lib2813/util/BuildConstants.java

@@ -17,7 +17,11 @@
 
 import java.time.ZonedDateTime;
 
-/** Holder for data collected at build time about the robot code. */
+/**
+ * Holder for data collected at build time about the robot code.
+ *
+ * @since 2.0.0
+ */
 public interface BuildConstants {
 
   /** The current git branch when the code was built. */

lib/src/main/java/com/team2813/lib2813/util/BuildConstantsPublisher.java

@@ -52,6 +52,8 @@
  * // Log the build constants in the robot console as well.
  * buildConstantsPublisher.log();
  * }</pre>
+ *
+ * @since 2.0.0
  */
 public final class BuildConstantsPublisher {
   /** The name of the NetworkTable under which the build constants are published. */