Temporary PR to view code (do not merge)

src/main/java/org/ironriders/core/Robot.java

@@ -73,7 +73,7 @@
 
             autonomousCommand.cancel();
         }
-    
+
         RobotContainer.init();
     }
 
@@ -106,7 +106,8 @@
         PhotonCamera.setVersionCheckEnabled(false); // Silence camera not found warnings.
 
         // teleport to the center of the field on startup.
-        DriveSubsystem.getSwerveDrive().getMapleSimDrive().orElseThrow().setSimulationWorldPose(FieldPositions.Field.CENTER);
+        DriveSubsystem.getSwerveDrive().getMapleSimDrive().orElseThrow()
+                .setSimulationWorldPose(FieldPositions.Field.CENTER);
         DriveSubsystem.getSwerveDrive().resetOdometry(FieldPositions.Field.CENTER);
 
         DriverStationSim.setAllianceStationId(AllianceStationID.Blue1);

src/main/java/org/ironriders/drive/DriveSubsystem.java

@@ -116,13 +116,15 @@ public void periodic() {
 
         TargetingControl.update();
 
-       //if (RobotContainer.passingZone.inside() && lastZone != RobotContainer.passingZone) {
-       //    TargetingControl.targetPassing();
-       //    lastZone = RobotContainer.passingZone;
-       //} else if (RobotContainer.scoringZone.inside() && lastZone != RobotContainer.scoringZone) {
-       //    TargetingControl.targetHub();
-       //    lastZone = RobotContainer.scoringZone;
-       //}
+        // if (RobotContainer.passingZone.inside() && lastZone !=
+        // RobotContainer.passingZone) {
+        // TargetingControl.targetPassing();
+        // lastZone = RobotContainer.passingZone;
+        // } else if (RobotContainer.scoringZone.inside() && lastZone !=
+        // RobotContainer.scoringZone) {
+        // TargetingControl.targetHub();
+        // lastZone = RobotContainer.scoringZone;
+        // }
 
         if (Math.abs(RobotContainer.primaryController.getRightX()) > DriveConstants.DRIVE_OVERRIDE_THRESHOLD) {
             RobotContainer.revertToSafeDefaults();

src/main/java/org/ironriders/lib/field/FieldElement.java

@@ -10,7 +10,7 @@
 import java.util.stream.Stream;
 
 import org.ironriders.lib.Utils;
-import org.ironriders.vision.VisionSubsystem;
+import org.ironriders.vision.VisionConstants;
 
 /**
  * Representation of an element on the field. Includes pose, function, and
@@ -110,12 +110,11 @@
         return findNearest(pose, Optional.empty());
     }
 
-    @SuppressWarnings("null")
     private static List<FieldElement> loadElements(DriverStation.Alliance alliance, int[] tags) {
         return Stream.of(Position.values())
                 .map(
                         element -> {
-                            var pose = VisionSubsystem.tagLayout.getTagPose(tags[element.id]);
+                            var pose = VisionConstants.TAG_FIELD_LAYOUT.getTagPose(tags[element.id]);
                             if (pose.isEmpty()) {
                                 Optional.empty();
                             }

src/main/java/org/ironriders/manipulation/indexer/IndexerSubsystem.java

@@ -11,7 +11,7 @@ public class IndexerSubsystem extends IronSubsystem {
     private final IndexerCommands commands = new IndexerCommands(this);
 
     private TalonFX motor = new TalonFX(IndexerConstants.ID);
-    
+
     private TalonFXConfiguration configuration;
 
     public IndexerSubsystem() {