Replaced DrivetrainIO with List of SwerveModules and reorganized package

team4099 · Jul 2, 2024 · 927a15a · 927a15a
1 parent 7de2087
commit 927a15a
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Showing 54 changed files with 129 additions and 150 deletions.
diff --git a/.gradle/8.4/checksums/checksums.lock b/.gradle/8.4/checksums/checksums.lock
diff --git a/.gradle/8.4/executionHistory/executionHistory.bin b/.gradle/8.4/executionHistory/executionHistory.bin
diff --git a/.gradle/8.4/executionHistory/executionHistory.lock b/.gradle/8.4/executionHistory/executionHistory.lock
diff --git a/.gradle/8.4/fileHashes/fileHashes.bin b/.gradle/8.4/fileHashes/fileHashes.bin
diff --git a/.gradle/8.4/fileHashes/fileHashes.lock b/.gradle/8.4/fileHashes/fileHashes.lock
diff --git a/.gradle/8.4/fileHashes/resourceHashesCache.bin b/.gradle/8.4/fileHashes/resourceHashesCache.bin
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
diff --git a/src/main/java/com/team4099/utils/threads/PhoenixOdometryThread.java b/src/main/java/com/team4099/utils/threads/PhoenixOdometryThread.java
@@ -85,13 +85,13 @@ public void run() {
             }
 
             // Save new data to queues
-            com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(true);
+            com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(true);
             try {
                 for (int i = 0; i < signals.length; i++) {
                     queues.get(i).offer(signals[i].getValueAsDouble());
                 }
             } finally {
-                com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(false);
+                com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(false);
             }
         }
     }

diff --git a/src/main/java/com/team4099/utils/threads/SparkMaxOdometryThread.java b/src/main/java/com/team4099/utils/threads/SparkMaxOdometryThread.java
@@ -43,24 +43,24 @@ private SparkMaxOdometryThread() {
 
     public java.util.Queue<Double> registerSignal(java.util.function.DoubleSupplier signal) {
         java.util.Queue<Double> queue = new java.util.concurrent.ArrayBlockingQueue<>(100);
-        com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(true);
+        com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(true);
         try {
             signals.add(signal);
             queues.add(queue);
         } finally {
-            com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(false);
+            com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(false);
         }
         return queue;
     }
 
     private void periodic() {
-        com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(true);
+        com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(true);
         try {
             for (int i = 0; i < signals.size(); i++) {
                 queues.get(i).offer(signals.get(i).getAsDouble());
             }
         } finally {
-            com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain.Companion.setOdometryLock(false);
+            com.team4099.robot2023.subsystems.drivetrain.Drivetrain.Companion.setOdometryLock(false);
         }
     }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
@@ -1,17 +1,22 @@
 package com.team4099.robot2023
 
+import com.ctre.phoenix6.hardware.TalonFX
 import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.auto.AutonomousSelector
 import com.team4099.robot2023.commands.drivetrain.ResetGyroYawCommand
 import com.team4099.robot2023.commands.drivetrain.TargetAngleCommand
 import com.team4099.robot2023.commands.drivetrain.TeleopDriveCommand
 import com.team4099.robot2023.config.ControlBoard
 import com.team4099.robot2023.config.constants.Constants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOReal
-import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOSim
+import com.team4099.robot2023.config.constants.Constants.Universal.CANIVORE_NAME
+import com.team4099.robot2023.config.constants.DrivetrainConstants
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIO
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIOPigeon2
+import com.team4099.robot2023.subsystems.drivetrain.swervemodule.SwerveModule
+import com.team4099.robot2023.subsystems.drivetrain.swervemodule.SwerveModuleIO
+import com.team4099.robot2023.subsystems.drivetrain.swervemodule.SwerveModuleIOSim
+import com.team4099.robot2023.subsystems.drivetrain.swervemodule.SwerveModuleIOTalon
 import com.team4099.robot2023.subsystems.elevator.Elevator
 import com.team4099.robot2023.subsystems.elevator.ElevatorIONEO
 import com.team4099.robot2023.subsystems.elevator.ElevatorIOSim
@@ -36,6 +41,7 @@ import com.team4099.robot2023.subsystems.wrist.Wrist
 import com.team4099.robot2023.subsystems.wrist.WristIOSim
 import com.team4099.robot2023.subsystems.wrist.WristIOTalon
 import com.team4099.robot2023.util.driver.Jessika
+import edu.wpi.first.wpilibj.AnalogInput
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Command
@@ -70,12 +76,60 @@ object RobotContainer {
       "Defense/PodiumShotAngle", 25.0.degrees, Pair({ it.inDegrees }, { it.degrees })
     )
 
+  private val SWERVE_MODULES_REAL: List<SwerveModule> =
+    listOf(
+      SwerveModule(
+        SwerveModuleIOTalon(
+          TalonFX(Constants.Drivetrain.FRONT_LEFT_STEERING_ID, CANIVORE_NAME),
+          TalonFX(Constants.Drivetrain.FRONT_LEFT_DRIVE_ID, CANIVORE_NAME),
+          AnalogInput(Constants.Drivetrain.FRONT_LEFT_ANALOG_POTENTIOMETER),
+          DrivetrainConstants.FRONT_LEFT_MODULE_ZERO,
+          Constants.Drivetrain.FRONT_LEFT_MODULE_NAME
+        )
+      ),
+      SwerveModule(
+        SwerveModuleIOTalon(
+          TalonFX(Constants.Drivetrain.FRONT_RIGHT_STEERING_ID, CANIVORE_NAME),
+          TalonFX(Constants.Drivetrain.FRONT_RIGHT_DRIVE_ID, CANIVORE_NAME),
+          AnalogInput(Constants.Drivetrain.FRONT_RIGHT_ANALOG_POTENTIOMETER),
+          DrivetrainConstants.FRONT_RIGHT_MODULE_ZERO,
+          Constants.Drivetrain.FRONT_RIGHT_MODULE_NAME
+        )
+      ),
+      SwerveModule(
+        SwerveModuleIOTalon(
+          TalonFX(Constants.Drivetrain.BACK_LEFT_STEERING_ID, CANIVORE_NAME),
+          TalonFX(Constants.Drivetrain.BACK_LEFT_DRIVE_ID, CANIVORE_NAME),
+          AnalogInput(Constants.Drivetrain.BACK_LEFT_ANALOG_POTENTIOMETER),
+          DrivetrainConstants.BACK_LEFT_MODULE_ZERO,
+          Constants.Drivetrain.BACK_LEFT_MODULE_NAME
+        )
+      ),
+      SwerveModule(
+        SwerveModuleIOTalon(
+          TalonFX(Constants.Drivetrain.BACK_RIGHT_STEERING_ID, CANIVORE_NAME),
+          TalonFX(Constants.Drivetrain.BACK_RIGHT_DRIVE_ID, CANIVORE_NAME),
+          AnalogInput(Constants.Drivetrain.BACK_RIGHT_ANALOG_POTENTIOMETER),
+          DrivetrainConstants.BACK_RIGHT_MODULE_ZERO,
+          Constants.Drivetrain.BACK_RIGHT_MODULE_NAME
+        )
+      )
+    )
+
+  private val SWERVE_MODULES_SIM: List<SwerveModule> =
+    listOf(
+      SwerveModule(SwerveModuleIOSim("Front Left Wheel")),
+      SwerveModule(SwerveModuleIOSim("Front Right Wheel")),
+      SwerveModule(SwerveModuleIOSim("Back Left Wheel")),
+      SwerveModule(SwerveModuleIOSim("Back Right Wheel"))
+    )
+
   init {
     if (RobotBase.isReal()) {
       // Real Hardware Implementations
       // drivetrain = Drivetrain(object: GyroIO {},object: DrivetrainIO {}
 
-      drivetrain = Drivetrain(GyroIOPigeon2, DrivetrainIOReal)
+      drivetrain = Drivetrain(GyroIOPigeon2, SWERVE_MODULES_REAL)
       vision = Vision(object : CameraIO {}, CameraIOPhotonvision("parakeet_2"))
       limelight = LimelightVision(LimelightVisionIOReal)
       intake = Intake(IntakeIOFalconNEO)
@@ -85,7 +139,7 @@ object RobotContainer {
       wrist = Wrist(WristIOTalon)
     } else {
       // Simulation implementations
-      drivetrain = Drivetrain(object : GyroIO {}, DrivetrainIOSim)
+      drivetrain = Drivetrain(object : GyroIO {}, SWERVE_MODULES_SIM)
       vision = Vision(object : CameraIO {})
       limelight = LimelightVision(object : LimelightVisionIO {})
       intake = Intake(IntakeIOSim)
@@ -160,6 +214,27 @@ object RobotContainer {
     superstructure.currentRequest = Request.SuperstructureRequest.Idle()
   }
 
+  fun getSwerveModules(): List<SwerveModule> {
+    return listOf(
+      SwerveModule(
+        object : SwerveModuleIO {
+          override val label = "Front Left Wheel"
+        }),
+      SwerveModule(
+        object : SwerveModuleIO {
+          override val label = "Front Right Wheel"
+        }),
+      SwerveModule(
+        object : SwerveModuleIO {
+          override val label = "Back Left Wheel"
+        }),
+      SwerveModule(
+        object : SwerveModuleIO {
+          override val label = "Back Right Wheel"
+        })
+    )
+  }
+
   fun mapTeleopControls() {
     limelight.limelightState = LimelightVision.LimelightStates.TARGETING_GAME_PIECE
 

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/AutonomousSelector.kt b/src/main/kotlin/com/team4099/robot2023/auto/AutonomousSelector.kt
@@ -17,7 +17,7 @@ import com.team4099.robot2023.auto.mode.ThreeNoteCenterlineFromAmpAutoPath
 import com.team4099.robot2023.auto.mode.ThreeNoteCenterlineWithoutFirstNoteAmpAutoPath
 import com.team4099.robot2023.auto.mode.TwoNoteCenterlineFromAmpAutoPath
 import com.team4099.robot2023.auto.mode.TwoNoteCenterlineFromSourceAutoPath
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import com.team4099.robot2023.util.AllianceFlipUtil
 import edu.wpi.first.networktables.GenericEntry

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/AravAuto.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/AravAuto.kt
@@ -3,7 +3,7 @@ package com.team4099.robot2023.auto.mode
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/ExamplePathAuto.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/ExamplePathAuto.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import org.team4099.lib.geometry.Pose2d
 import org.team4099.lib.geometry.Translation2d

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FiveNoteAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FiveNoteAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FiveNoteCenterlineAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FiveNoteCenterlineAutoPath.kt
@@ -3,7 +3,7 @@ package com.team4099.robot2023.auto.mode
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.commands.drivetrain.ResetPoseCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import org.team4099.lib.geometry.Pose2d
 import org.team4099.lib.geometry.Translation2d

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteAutoPath.kt
@@ -3,7 +3,7 @@ package com.team4099.robot2023.auto.mode
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteLeftCenterLine.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteLeftCenterLine.kt
@@ -4,7 +4,7 @@ import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.commands.drivetrain.ResetPoseCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteMiddleCenterLine.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteMiddleCenterLine.kt
@@ -4,7 +4,7 @@ import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.commands.drivetrain.ResetPoseCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteRightCenterLine.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteRightCenterLine.kt
@@ -3,7 +3,7 @@ package com.team4099.robot2023.auto.mode
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveCenterSubwooferAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveCenterSubwooferAutoPath.kt
@@ -3,7 +3,7 @@ package com.team4099.robot2023.auto.mode
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
 import com.team4099.robot2023.config.constants.FlywheelConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import edu.wpi.first.wpilibj2.command.WaitCommand

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveFromAmpSubwooferAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveFromAmpSubwooferAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import edu.wpi.first.wpilibj2.command.WaitCommand

diff --git a/...ain/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveFromSourceSubwooferAutoPath.kt b/...ain/kotlin/com/team4099/robot2023/auto/mode/PreloadAndLeaveFromSourceSubwooferAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import edu.wpi.first.wpilibj2.command.WaitCommand

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndResetAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/PreloadAndResetAutoPath.kt
@@ -1,7 +1,7 @@
 package com.team4099.robot2023.auto.mode
 
 import com.team4099.robot2023.commands.drivetrain.ResetPoseCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import edu.wpi.first.wpilibj2.command.WaitCommand

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/SixNoteAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/SixNoteAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
 import org.team4099.lib.geometry.Pose2d

diff --git a/...ain/kotlin/com/team4099/robot2023/auto/mode/ThreeNoteAndPickupCenterlineSourceAutoPath.kt b/...ain/kotlin/com/team4099/robot2023/auto/mode/ThreeNoteAndPickupCenterlineSourceAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/...eam4099/robot2023/auto/mode/ThreeNoteAndPickupCenterlineWithoutFirstNoteSourceAutoPath.kt b/...eam4099/robot2023/auto/mode/ThreeNoteAndPickupCenterlineWithoutFirstNoteSourceAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/ThreeNoteCenterlineFromAmpAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/ThreeNoteCenterlineFromAmpAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/...kotlin/com/team4099/robot2023/auto/mode/ThreeNoteCenterlineWithoutFirstNoteAmpAutoPath.kt b/...kotlin/com/team4099/robot2023/auto/mode/ThreeNoteCenterlineWithoutFirstNoteAmpAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/TwoNoteCenterlineFromAmpAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/TwoNoteCenterlineFromAmpAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/TwoNoteCenterlineFromSourceAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/TwoNoteCenterlineFromSourceAutoPath.kt
@@ -2,7 +2,7 @@ package com.team4099.robot2023.auto.mode
 
 import com.team4099.lib.trajectory.FieldWaypoint
 import com.team4099.robot2023.commands.drivetrain.DrivePathCommand
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup

diff --git a/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt
@@ -1,6 +1,6 @@
 package com.team4099.robot2023.commands.drivetrain
 
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest

diff --git a/...in/com/team4099/robot2023/commands/characterization/FeedForwardCharacterizationCommand.kt b/...in/com/team4099/robot2023/commands/characterization/FeedForwardCharacterizationCommand.kt
@@ -1,6 +1,6 @@
 package com.team4099.robot2023.commands.characterization
 
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.utils.PolynomialRegression
 import edu.wpi.first.wpilibj.Timer
 import edu.wpi.first.wpilibj2.command.Command

diff --git a/...in/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt b/...in/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt
@@ -7,7 +7,7 @@
 
 import com.team4099.lib.logging.LoggedTunableNumber
 import com.team4099.robot2023.config.constants.DrivetrainConstants
-import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
+import com.team4099.robot2023.subsystems.drivetrain.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
 import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.MathUtil