[templates] Add Java Romi Educational template (#3837)

This is a combination of a Romi Gradle project and Educational robot (added in #3309)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/EducationalRobot.java

@@ -0,0 +1,77 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/** Educational robot base class. */
+public class EducationalRobot extends RobotBase {
+  public void robotInit() {}
+
+  public void disabled() {}
+
+  public void run() {}
+
+  public void autonomous() {
+    run();
+  }
+
+  public void teleop() {
+    run();
+  }
+
+  public void test() {
+    run();
+  }
+
+  private volatile boolean m_exit;
+
+  @Override
+  public void startCompetition() {
+    robotInit();
+
+    // Tell the DS that the robot is ready to be enabled
+    HAL.observeUserProgramStarting();
+
+    while (!Thread.currentThread().isInterrupted() && !m_exit) {
+      if (isDisabled()) {
+        DriverStation.inDisabled(true);
+        disabled();
+        DriverStation.inDisabled(false);
+        while (isDisabled()) {
+          DriverStation.waitForData();
+        }
+      } else if (isAutonomous()) {
+        DriverStation.inAutonomous(true);
+        autonomous();
+        DriverStation.inAutonomous(false);
+        while (isAutonomousEnabled()) {
+          DriverStation.waitForData();
+        }
+      } else if (isTest()) {
+        DriverStation.inTest(true);
+        test();
+        DriverStation.inTest(false);
+        while (isTest() && isEnabled()) {
+          DriverStation.waitForData();
+        }
+      } else {
+        DriverStation.inTeleop(true);
+        teleop();
+        DriverStation.inTeleop(false);
+        while (isTeleopEnabled()) {
+          DriverStation.waitForData();
+        }
+      }
+    }
+  }
+
+  @Override
+  public void endCompetition() {
+    m_exit = true;
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Main.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Robot.java

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+/**
+ * The VM is configured to automatically run this class, and to call the run() function when the
+ * robot is enabled. If you change the name of this class or the package after creating this
+ * project, you must also update the build.gradle file in the project.
+ */
+public class Robot extends EducationalRobot {
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
+  @Override
+  public void robotInit() {}
+
+  /** This function is run when the robot is enabled. */
+  @Override
+  public void run() {}
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+public class RomiDrivetrain {
+  private static final double kCountsPerRevolution = 1440.0;
+  private static final double kWheelDiameterInch = 2.75591; // 70 mm
+
+  // The Romi has the left and right motors set to
+  // PWM channels 0 and 1 respectively
+  private final Spark m_leftMotor = new Spark(0);
+  private final Spark m_rightMotor = new Spark(1);
+
+  // The Romi has onboard encoders that are hardcoded
+  // to use DIO pins 4/5 and 6/7 for the left and right
+  private final Encoder m_leftEncoder = new Encoder(4, 5);
+  private final Encoder m_rightEncoder = new Encoder(6, 7);
+
+  // Set up the differential drive controller
+  private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+
+  /** Creates a new RomiDrivetrain. */
+  public RomiDrivetrain() {
+    // Use inches as unit for encoder distances
+    m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
+    m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
+    resetEncoders();
+  }
+
+  public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
+    m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+  }
+
+  public void resetEncoders() {
+    m_leftEncoder.reset();
+    m_rightEncoder.reset();
+  }
+
+  public double getLeftDistanceInch() {
+    return m_leftEncoder.getDistance();
+  }
+
+  public double getRightDistanceInch() {
+    return m_rightEncoder.getDistance();
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json

@@ -14,7 +14,8 @@
     "name": "Timed Skeleton (Advanced)",
     "description": "Skeleton (stub) code for TimedRobot",
     "tags": [
-      "Timed", "Skeleton"
+      "Timed",
+      "Skeleton"
     ],
     "foldername": "timedskeleton",
     "gradlebase": "java",
@@ -25,7 +26,8 @@
     "name": "RobotBase Skeleton (Advanced)",
     "description": "Skeleton (stub) code for RobotBase",
     "tags": [
-      "RobotBase", "Skeleton"
+      "RobotBase",
+      "Skeleton"
     ],
     "foldername": "robotbaseskeleton",
     "gradlebase": "java",
@@ -47,7 +49,8 @@
     "name": "Romi - Timed Robot",
     "description": "Romi - Timed style",
     "tags": [
-      "Timed", "Romi"
+      "Timed",
+      "Romi"
     ],
     "foldername": "romitimed",
     "gradlebase": "javaromi",
@@ -58,7 +61,8 @@
     "name": "Romi - Command Robot",
     "description": "Romi - Command style",
     "tags": [
-      "Command", "Romi"
+      "Command",
+      "Romi"
     ],
     "foldername": "romicommandbased",
     "gradlebase": "javaromi",
@@ -75,5 +79,17 @@
     "gradlebase": "java",
     "mainclass": "Main",
     "commandversion": 2
+  },
+  {
+    "name": "Romi - Educational Robot",
+    "description": "Romi - Educational Robot",
+    "tags": [
+      "Educational",
+      "Romi"
+    ],
+    "foldername": "romieducational",
+    "gradlebase": "javaromi",
+    "mainclass": "Main",
+    "commandversion": 2
   }
 ]