Full codebase for review

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

.github/workflows/gradle.yml

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+name: Java CI with Gradle
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      # FIX 1: Move submodules here and update to v4
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up JDK 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      # FIX 2: Clean up the Gradle action (removed submodules from here)
+      - name: Build with Gradle
+        uses: gradle/gradle-build-action@v2
+        with:
+          arguments: build

.github/workflows/linter.yml

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+---
+#################################
+#################################
+## Super Linter GitHub Actions ##
+#################################
+#################################
+name: Lint Code Base
+
+#
+# Documentation:
+# https://docs.github.com/en/actions/learn-github-actions/workflow-syntax-for-github-actions
+#
+
+#############################
+# Start the job on all push #
+#############################
+on:
+  push:
+    branches-ignore: [ master, main ]
+    # Remove the line above to run when pushing to master
+  pull_request:
+    branches: [ master, main ]
+
+###############
+# Set the Job #
+###############
+jobs:
+  build:
+    # Name the Job
+    name: Lint Code Base
+    # Set the agent to run on
+    runs-on: ubuntu-latest
+
+    ##################
+    # Load all steps #
+    ##################
+    steps:
+      ##########################
+      # Checkout the code base #
+      ##########################
+      - name: Checkout Code
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          # Full git history is needed to get a proper
+          # list of changed files within `super-linter`
+          fetch-depth: 0
+      ################################
+      # Run Linter against code base #
+      ################################
+      - name: Lint Code Base
+        uses: github/super-linter/slim@v4
+        env:
+          VALIDATE_ALL_CODEBASE: false
+          VALIDATE_EDITORCONFIG: true
+          # Change to 'master' if your main branch differs
+          DEFAULT_BRANCH: main
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+

.gitignore

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+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
+.classpath
+.project
+.settings/
+bin/
+
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+networktables.json
+simgui.json
+simgui-ds.json
+*-window.json
+*.wpilog
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json

.gitmodules

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+[submodule "src/main/java/frc/trigon/lib"]
+	path = src/main/java/frc/trigon/lib
+	url = https://github.com/Programming-TRIGON/TRIGONLib

.pathplanner/settings.json

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+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": []
+}

.run/Build & Deploy Robot for Debugging.run.xml

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+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="-PdebugMode=true" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>

.run/Build & Deploy Robot.run.xml

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+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="deploy" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>

.run/Build & Run Simulate Java.run.xml

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+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build &amp; Run Simulate Java" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="simulateJava" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <method v="2" />
+  </configuration>
+</component>