refactor: change package from frc.robot to org.team1540.robot2024

.gitignore

@@ -172,7 +172,7 @@ out/
 simgui*.json
 
 # Version file
-src/main/java/frc/robot/BuildConstants.java
+src/main/java/org/team1540/robot2024/BuildConstants.java
 
 ctre_sim/
 *.wpilog

build.gradle

@@ -9,7 +9,7 @@ java {
     targetCompatibility = JavaVersion.VERSION_17
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "org.team1540.robot2024.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -133,7 +133,7 @@ tasks.withType(JavaCompile) {
 project.compileJava.dependsOn(createVersionFile)
 gversion {
     srcDir       = "src/main/java/"
-    classPackage = "frc.robot"
+    classPackage = "org.team1540.robot2024"
     className    = "BuildConstants"
     dateFormat   = "yyyy-MM-dd HH:mm:ss z"
     timeZone     = "America/New_York"

src/main/java/frc/robot/Constants.java → src/main/java/org/team1540/robot2024/Constants.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot;
+package org.team1540.robot2024;
 
 import edu.wpi.first.math.util.Units;
 
@@ -24,7 +24,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
 
   public static enum Mode {
     /** Running on a real robot. */

src/main/java/frc/robot/Main.java → src/main/java/org/team1540/robot2024/Main.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot;
+package org.team1540.robot2024;
 
 import edu.wpi.first.wpilibj.RobotBase;
 

src/main/java/frc/robot/Robot.java → src/main/java/org/team1540/robot2024/Robot.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot;
+package org.team1540.robot2024;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;

src/main/java/frc/robot/RobotContainer.java → src/main/java/org/team1540/robot2024/RobotContainer.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot;
+package org.team1540.robot2024;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -21,10 +21,10 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.DriveCommands;
-import frc.robot.commands.FeedForwardCharacterization;
-import frc.robot.subsystems.drive.*;
-import frc.robot.util.swerve.SwerveFactory;
+import org.team1540.robot2024.commands.DriveCommands;
+import org.team1540.robot2024.commands.FeedForwardCharacterization;
+import org.team1540.robot2024.subsystems.drive.*;
+import org.team1540.robot2024.util.swerve.SwerveFactory;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 
@@ -115,7 +115,7 @@ private void configureButtonBindings() {
             drive,
             () -> -controller.getLeftY(),
             () -> -controller.getLeftX(),
-            () -> controller.getRightX()));
+            () -> -controller.getRightX()));
     controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
     controller
         .b()

src/main/java/frc/robot/commands/DriveCommands.java → src/main/java/org/team1540/robot2024/commands/DriveCommands.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.commands;
+package org.team1540.robot2024.commands;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -21,7 +21,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.subsystems.drive.Drive;
+import org.team1540.robot2024.subsystems.drive.Drive;
 
 import java.util.function.DoubleSupplier;
 

src/main/java/frc/robot/commands/FeedForwardCharacterization.java → src/main/java/org/team1540/robot2024/commands/FeedForwardCharacterization.java

@@ -11,12 +11,12 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.commands;
+package org.team1540.robot2024.commands;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-import frc.robot.util.PolynomialRegression;
+import org.team1540.robot2024.util.PolynomialRegression;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.Consumer;

src/main/java/frc/robot/subsystems/drive/Drive.java → src/main/java/org/team1540/robot2024/subsystems/drive/Drive.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.pathfinding.Pathfinding;
@@ -28,12 +28,10 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.util.LocalADStarAK;
+import org.team1540.robot2024.util.LocalADStarAK;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
-
-
-import static frc.robot.Constants.Drivetrain.*;
+import org.team1540.robot2024.Constants;
 
 public class Drive extends SubsystemBase {
 
@@ -65,7 +63,7 @@ public Drive(
                 this::setPose,
                 () -> kinematics.toChassisSpeeds(getModuleStates()),
                 this::runVelocity,
-                new HolonomicPathFollowerConfig(MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
+                new HolonomicPathFollowerConfig(Constants.Drivetrain.MAX_LINEAR_SPEED, Constants.Drivetrain.DRIVE_BASE_RADIUS, new ReplanningConfig()),
                 () -> DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red,
                 this);
         Pathfinding.setPathfinder(new LocalADStarAK());
@@ -129,7 +127,7 @@ public void runVelocity(ChassisSpeeds speeds) {
         // Calculate module setpoints
         ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02);
         SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
-        SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED);
+        SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, Constants.Drivetrain.MAX_LINEAR_SPEED);
 
         // Send setpoints to modules
         SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4];
@@ -222,25 +220,25 @@ public void setPose(Pose2d pose) {
      * Returns the maximum linear speed in meters per sec.
      */
     public double getMaxLinearSpeedMetersPerSec() {
-        return MAX_LINEAR_SPEED;
+        return Constants.Drivetrain.MAX_LINEAR_SPEED;
     }
 
     /**
      * Returns the maximum angular speed in radians per sec.
      */
     public double getMaxAngularSpeedRadPerSec() {
-        return MAX_ANGULAR_SPEED;
+        return Constants.Drivetrain.MAX_ANGULAR_SPEED;
     }
 
     /**
      * Returns an array of module translations.
      */
     public static Translation2d[] getModuleTranslations() {
         return new Translation2d[]{
-                new Translation2d(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0),
-                new Translation2d(TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0),
-                new Translation2d(-TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0),
-                new Translation2d(-TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0)
+                new Translation2d(Constants.Drivetrain.TRACK_WIDTH_X / 2.0, Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
+                new Translation2d(Constants.Drivetrain.TRACK_WIDTH_X / 2.0, -Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
+                new Translation2d(-Constants.Drivetrain.TRACK_WIDTH_X / 2.0, Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
+                new Translation2d(-Constants.Drivetrain.TRACK_WIDTH_X / 2.0, -Constants.Drivetrain.TRACK_WIDTH_Y / 2.0)
         };
     }
 }

src/main/java/frc/robot/subsystems/drive/GyroIO.java → src/main/java/org/team1540/robot2024/subsystems/drive/GyroIO.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;

src/main/java/frc/robot/subsystems/drive/GyroIONavx.java → src/main/java/org/team1540/robot2024/subsystems/drive/GyroIONavx.java

@@ -1,12 +1,10 @@
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.Timer;
 
-import java.util.logging.Logger;
-
 public class GyroIONavx implements GyroIO{
     private final AHRS navx = new AHRS(SPI.Port.kMXP);
     private Rotation2d lastAngle;

src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java → src/main/java/org/team1540/robot2024/subsystems/drive/GyroIOPigeon2.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusCode;

src/main/java/frc/robot/subsystems/drive/Module.java → src/main/java/org/team1540/robot2024/subsystems/drive/Module.java

@@ -11,19 +11,16 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.util.Units;
-import frc.robot.Constants;
+import org.team1540.robot2024.Constants;
 import org.littletonrobotics.junction.Logger;
 
-import static frc.robot.Constants.Drivetrain.WHEEL_RADIUS;
-
 public class Module {
 
 
@@ -96,7 +93,7 @@ public void periodic() {
         double adjustSpeedSetpoint = speedSetpoint * Math.cos(turnFeedback.getPositionError());
 
         // Run drive controller
-        double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS;
+        double velocityRadPerSec = adjustSpeedSetpoint / Constants.Drivetrain.WHEEL_RADIUS;
         io.setDriveVoltage(
             driveFeedforward.calculate(velocityRadPerSec)
                 + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec));
@@ -157,12 +154,12 @@ public Rotation2d getAngle() {
 
   /** Returns the current drive position of the module in meters. */
   public double getPositionMeters() {
-    return inputs.drivePositionRad * WHEEL_RADIUS;
+    return inputs.drivePositionRad * Constants.Drivetrain.WHEEL_RADIUS;
   }
 
   /** Returns the current drive velocity of the module in meters per second. */
   public double getVelocityMetersPerSec() {
-    return inputs.driveVelocityRadPerSec * WHEEL_RADIUS;
+    return inputs.driveVelocityRadPerSec * Constants.Drivetrain.WHEEL_RADIUS;
   }
 
   /** Returns the module position (turn angle and drive position). */

src/main/java/frc/robot/subsystems/drive/ModuleIO.java → src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIO.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;

src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java → src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;

src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java → src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java

@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.subsystems.drive;
+package org.team1540.robot2024.subsystems.drive;
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
@@ -23,9 +23,8 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
-import frc.robot.util.swerve.SwerveFactory;
-
-import static frc.robot.Constants.Drivetrain.*;
+import org.team1540.robot2024.util.swerve.SwerveFactory;
+import org.team1540.robot2024.Constants;
 
 /**
  * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
@@ -93,14 +92,14 @@ public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw) {
     public void updateInputs(ModuleIOInputs inputs) {
         BaseStatusSignal.refreshAll(drivePosition, driveVelocity, driveAppliedVolts, driveCurrent, turnAbsolutePosition, turnPosition, turnVelocity, turnAppliedVolts, turnCurrent);
 
-        inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO;
-        inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO;
+        inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
+        inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
         inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble();
         inputs.driveCurrentAmps = new double[]{driveCurrent.getValueAsDouble()};
 
         inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()).minus(absoluteEncoderOffset);
-        inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO);
-        inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO;
+        inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble() / Constants.Drivetrain.TURN_GEAR_RATIO);
+        inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / Constants.Drivetrain.TURN_GEAR_RATIO;
         inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
         inputs.turnCurrentAmps = new double[]{turnCurrent.getValueAsDouble()};
     }
@@ -126,7 +125,7 @@ public void setDriveBrakeMode(boolean enable) {
     @Override
     public void setTurnBrakeMode(boolean enable) {
         var config = new MotorOutputConfigs();
-        config.Inverted = IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
+        config.Inverted = Constants.Drivetrain.IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
         config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
         turnTalon.getConfigurator().apply(config);
     }

src/main/java/frc/robot/util/LocalADStarAK.java → src/main/java/org/team1540/robot2024/util/LocalADStarAK.java

@@ -1,4 +1,4 @@
-package frc.robot.util;
+package org.team1540.robot2024.util;
 
 import com.pathplanner.lib.path.GoalEndState;
 import com.pathplanner.lib.path.PathConstraints;

src/main/java/frc/robot/util/PolynomialRegression.java → src/main/java/org/team1540/robot2024/util/PolynomialRegression.java

@@ -1,4 +1,4 @@
-package frc.robot.util;
+package org.team1540.robot2024.util;
 
 import Jama.Matrix;
 import Jama.QRDecomposition;

src/main/java/frc/robot/util/swerve/SwerveFactory.java → src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java

@@ -1,19 +1,14 @@
-package frc.robot.util.swerve;
+package org.team1540.robot2024.util.swerve;
 
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
-import com.ctre.phoenix6.configs.MagnetSensorConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import edu.wpi.first.math.geometry.Rotation2d;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import static frc.robot.Constants.Drivetrain.CAN_BUS;
+import org.team1540.robot2024.Constants;
 
 public class SwerveFactory {
     private static final double[] moduleOffsetsRots = new double[]{
@@ -28,7 +23,7 @@ public class SwerveFactory {
     };
 
     public static SwerveModuleHW getModuleMotors(int id, SwerveCorner corner) {
-        return new SwerveModuleHW(id, corner, CAN_BUS);
+        return new SwerveModuleHW(id, corner, Constants.Drivetrain.CAN_BUS);
     }
 
     public enum SwerveCorner {