moved everything out of subsystems/

SciBorgs · Oct 25, 2023 · 50a4775 · 50a4775
1 parent c9fdf9e
commit 50a4775
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Showing 22 changed files with 85 additions and 205 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Constants.java b/src/main/java/org/sciborgs1155/robot/Constants.java
@@ -1,14 +1,9 @@
 package org.sciborgs1155.robot;
 
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
-import edu.wpi.first.math.util.Units;
 import java.awt.Color;
 import java.util.Map;
-import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.sciborgs1155.lib.constants.MotorConfig;
 import org.sciborgs1155.lib.constants.MotorConfig.NeutralBehavior;
 import org.sciborgs1155.lib.constants.PIDConstants;
@@ -74,35 +69,6 @@ public static final class Dimensions {
     // Mass of the claw alone
   }
 
-  public static final class Vision {
-    // Camera names
-    public static final String FRONT_CAM = "frontPhotonVision";
-    public static final String BACK_CAM = "backPhotonVision";
-
-    // Robot to camera translations
-    public static final Translation3d FRONT_CAM_TRANSLATION =
-        new Translation3d(0.165, -0.305, 0.356);
-    public static final Rotation3d FRONT_CAM_ROTATION = new Rotation3d(1.64933614, 1.78, 0);
-    public static final Transform3d ROBOT_TO_FRONT_CAM =
-        new Transform3d(FRONT_CAM_TRANSLATION, FRONT_CAM_ROTATION);
-
-    public static final Translation3d BACK_CAM_TRANSLATION =
-        new Translation3d(); // Units.degreesToRadians(-180)
-    public static final Rotation3d BACK_CAM_ROTATION =
-        new Rotation3d(0, 0, Units.degreesToRadians(-180));
-    public static final Transform3d ROBOT_TO_BACK_CAM =
-        new Transform3d(BACK_CAM_TRANSLATION, BACK_CAM_ROTATION);
-
-    public static final PoseStrategy PRIMARY_POSE_STRATEGY = PoseStrategy.LOWEST_AMBIGUITY;
-    public static final PoseStrategy SECONDARY_POSE_STRATEGY = PoseStrategy.LOWEST_AMBIGUITY;
-
-    public static final double LED_RANGE = 9000;
-    public static final double CAM_FOV = 68.5;
-    public static final double MIN_TARGET_AREA = 90;
-    public static final int CAMERA_RES_WIDTH = 960;
-    public static final int CAMERA_RES_HEIGHT = 544;
-  }
-
   public static final class Intake {
     public static final MotorConfig MOTOR_CFG =
         MotorConfig.base()

diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -15,17 +15,17 @@
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Ports.OI;
-import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.arm.Arm;
+import org.sciborgs1155.robot.arm.ArmConstants.Elbow;
+import org.sciborgs1155.robot.arm.ArmConstants.Elevator;
+import org.sciborgs1155.robot.arm.ArmConstants.Wrist;
+import org.sciborgs1155.robot.arm.ArmState;
+import org.sciborgs1155.robot.arm.ArmState.GamePiece;
+import org.sciborgs1155.robot.arm.ArmState.Goal;
+import org.sciborgs1155.robot.auto.Autos;
 import org.sciborgs1155.robot.drive.Drive;
-import org.sciborgs1155.robot.subsystems.Intake;
-import org.sciborgs1155.robot.subsystems.LED;
-import org.sciborgs1155.robot.subsystems.arm.Arm;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elbow;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elevator;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Wrist;
-import org.sciborgs1155.robot.subsystems.arm.ArmState;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.GamePiece;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.Goal;
+import org.sciborgs1155.robot.intake.Intake;
+import org.sciborgs1155.robot.intake.LED;
 import org.sciborgs1155.robot.vision.NoVision;
 import org.sciborgs1155.robot.vision.VisionIO;
 

diff --git a/...ciborgs1155/robot/subsystems/arm/Arm.java → .../java/org/sciborgs1155/robot/arm/Arm.java b/...ciborgs1155/robot/subsystems/arm/Arm.java → .../java/org/sciborgs1155/robot/arm/Arm.java
@@ -1,6 +1,6 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
-import static org.sciborgs1155.robot.subsystems.arm.ArmConstants.*;
+import static org.sciborgs1155.robot.arm.ArmConstants.*;
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
@@ -22,12 +22,12 @@
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Robot;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.GamePiece;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.Goal;
-import org.sciborgs1155.robot.subsystems.arm.ElevatorIO.ElevatorConfig;
-import org.sciborgs1155.robot.subsystems.arm.JointIO.JointConfig;
-import org.sciborgs1155.robot.subsystems.arm.TrajectoryCache.ArmTrajectory;
-import org.sciborgs1155.robot.subsystems.arm.TrajectoryCache.Parameters;
+import org.sciborgs1155.robot.arm.ArmState.GamePiece;
+import org.sciborgs1155.robot.arm.ArmState.Goal;
+import org.sciborgs1155.robot.arm.ElevatorIO.ElevatorConfig;
+import org.sciborgs1155.robot.arm.JointIO.JointConfig;
+import org.sciborgs1155.robot.arm.TrajectoryCache.ArmTrajectory;
+import org.sciborgs1155.robot.arm.TrajectoryCache.Parameters;
 
 public class Arm extends SubsystemBase implements Fallible, Loggable, AutoCloseable {
 

diff --git a/...55/robot/subsystems/arm/ArmConstants.java → .../sciborgs1155/robot/arm/ArmConstants.java b/...55/robot/subsystems/arm/ArmConstants.java → .../sciborgs1155/robot/arm/ArmConstants.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
@@ -9,8 +9,8 @@
 import org.sciborgs1155.lib.constants.PIDConstants;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.Constants.Dimensions;
-import org.sciborgs1155.robot.subsystems.arm.ElevatorIO.ElevatorConfig;
-import org.sciborgs1155.robot.subsystems.arm.JointIO.JointConfig;
+import org.sciborgs1155.robot.arm.ElevatorIO.ElevatorConfig;
+import org.sciborgs1155.robot.arm.JointIO.JointConfig;
 
 public class ArmConstants {
 

diff --git a/...gs1155/robot/subsystems/arm/ArmState.java → .../org/sciborgs1155/robot/arm/ArmState.java b/...gs1155/robot/subsystems/arm/ArmState.java → .../org/sciborgs1155/robot/arm/ArmState.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -11,8 +11,8 @@
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.Constants.Dimensions;
 import org.sciborgs1155.robot.Constants.RobotType;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elbow;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elevator;
+import org.sciborgs1155.robot.arm.ArmConstants.Elbow;
+import org.sciborgs1155.robot.arm.ArmConstants.Elevator;
 
 /** ArmState class to store relative angles for the arm. */
 public record ArmState(double elevatorHeight, Rotation2d elbowAngle, Rotation2d wristAngle) {

diff --git a/...1155/robot/subsystems/arm/ElevatorIO.java → ...rg/sciborgs1155/robot/arm/ElevatorIO.java b/...1155/robot/subsystems/arm/ElevatorIO.java → ...rg/sciborgs1155/robot/arm/ElevatorIO.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;

diff --git a/...rgs1155/robot/subsystems/arm/JointIO.java → ...a/org/sciborgs1155/robot/arm/JointIO.java b/...rgs1155/robot/subsystems/arm/JointIO.java → ...a/org/sciborgs1155/robot/arm/JointIO.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.system.plant.DCMotor;

diff --git a/...1155/robot/subsystems/arm/NoElevator.java → ...rg/sciborgs1155/robot/arm/NoElevator.java b/...1155/robot/subsystems/arm/NoElevator.java → ...rg/sciborgs1155/robot/arm/NoElevator.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import java.util.List;

diff --git a/...rgs1155/robot/subsystems/arm/NoJoint.java → ...a/org/sciborgs1155/robot/arm/NoJoint.java b/...rgs1155/robot/subsystems/arm/NoJoint.java → ...a/org/sciborgs1155/robot/arm/NoJoint.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;

diff --git a/...s1155/robot/subsystems/arm/RealElbow.java → ...org/sciborgs1155/robot/arm/RealElbow.java b/...s1155/robot/subsystems/arm/RealElbow.java → ...org/sciborgs1155/robot/arm/RealElbow.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import static org.sciborgs1155.robot.Ports.Elbow.*;
 
@@ -17,7 +17,7 @@
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elbow;
+import org.sciborgs1155.robot.arm.ArmConstants.Elbow;
 
 public class RealElbow implements JointIO {
   private final CANSparkMax middleMotor;

diff --git a/...55/robot/subsystems/arm/RealElevator.java → .../sciborgs1155/robot/arm/RealElevator.java b/...55/robot/subsystems/arm/RealElevator.java → .../sciborgs1155/robot/arm/RealElevator.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import static org.sciborgs1155.robot.Ports.Elevator.*;
 
@@ -15,7 +15,7 @@
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elevator;
+import org.sciborgs1155.robot.arm.ArmConstants.Elevator;
 
 public class RealElevator implements ElevatorIO {
 

diff --git a/...s1155/robot/subsystems/arm/RealWrist.java → ...org/sciborgs1155/robot/arm/RealWrist.java b/...s1155/robot/subsystems/arm/RealWrist.java → ...org/sciborgs1155/robot/arm/RealWrist.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import static org.sciborgs1155.robot.Ports.Wrist.*;
 
@@ -17,7 +17,7 @@
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Wrist;
+import org.sciborgs1155.robot.arm.ArmConstants.Wrist;
 
 public class RealWrist implements JointIO {
 

diff --git a/...155/robot/subsystems/arm/SimElevator.java → ...g/sciborgs1155/robot/arm/SimElevator.java b/...155/robot/subsystems/arm/SimElevator.java → ...g/sciborgs1155/robot/arm/SimElevator.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.VecBuilder;

diff --git a/...gs1155/robot/subsystems/arm/SimJoint.java → .../org/sciborgs1155/robot/arm/SimJoint.java b/...gs1155/robot/subsystems/arm/SimJoint.java → .../org/sciborgs1155/robot/arm/SimJoint.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.VecBuilder;

diff --git a/...robot/subsystems/arm/TrajectoryCache.java → ...iborgs1155/robot/arm/TrajectoryCache.java b/...robot/subsystems/arm/TrajectoryCache.java → ...iborgs1155/robot/arm/TrajectoryCache.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import com.fasterxml.jackson.databind.DeserializationFeature;
 import com.fasterxml.jackson.databind.ObjectMapper;

diff --git a/...1155/robot/subsystems/arm/Visualizer.java → ...rg/sciborgs1155/robot/arm/Visualizer.java b/...1155/robot/subsystems/arm/Visualizer.java → ...rg/sciborgs1155/robot/arm/Visualizer.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems.arm;
+package org.sciborgs1155.robot.arm;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.util.sendable.Sendable;
@@ -9,7 +9,7 @@
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import org.sciborgs1155.robot.Constants.Dimensions;
-import org.sciborgs1155.robot.subsystems.arm.ArmConstants.Elevator;
+import org.sciborgs1155.robot.arm.ArmConstants.Elevator;
 
 /** Visualization class specific for our charged up bot */
 public class Visualizer implements Sendable {

diff --git a/...ciborgs1155/robot/commands/Alignment.java → ...rg/sciborgs1155/robot/auto/Alignment.java b/...ciborgs1155/robot/commands/Alignment.java → ...rg/sciborgs1155/robot/auto/Alignment.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.commands;
+package org.sciborgs1155.robot.auto;
 
 import static org.sciborgs1155.lib.PathFlipper.*;
 import static org.sciborgs1155.robot.Constants.Field.*;
@@ -12,9 +12,9 @@
 import java.util.Collection;
 import java.util.List;
 import org.sciborgs1155.lib.DeferredCommand;
+import org.sciborgs1155.robot.arm.ArmState.GamePiece;
+import org.sciborgs1155.robot.arm.ArmState.Side;
 import org.sciborgs1155.robot.drive.Drive;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.GamePiece;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.Side;
 
 public class Alignment {
 

diff --git a/...rg/sciborgs1155/robot/commands/Autos.java → ...va/org/sciborgs1155/robot/auto/Autos.java b/...rg/sciborgs1155/robot/commands/Autos.java → ...va/org/sciborgs1155/robot/auto/Autos.java
@@ -1,9 +1,9 @@
-package org.sciborgs1155.robot.commands;
+package org.sciborgs1155.robot.auto;
 
 import static org.sciborgs1155.robot.Constants.Auto.*;
 import static org.sciborgs1155.robot.Constants.Field.*;
+import static org.sciborgs1155.robot.arm.ArmState.*;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
-import static org.sciborgs1155.robot.subsystems.arm.ArmState.*;
 
 import com.pathplanner.lib.PathPlanner;
 import com.pathplanner.lib.PathPlannerTrajectory;
@@ -20,10 +20,10 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import java.util.List;
 import java.util.function.Supplier;
+import org.sciborgs1155.robot.arm.Arm;
+import org.sciborgs1155.robot.arm.ArmState;
 import org.sciborgs1155.robot.drive.Drive;
-import org.sciborgs1155.robot.subsystems.Intake;
-import org.sciborgs1155.robot.subsystems.arm.Arm;
-import org.sciborgs1155.robot.subsystems.arm.ArmState;
+import org.sciborgs1155.robot.intake.Intake;
 
 public final class Autos implements Sendable {
 

diff --git a/...sciborgs1155/robot/subsystems/Intake.java → ...org/sciborgs1155/robot/intake/Intake.java b/...sciborgs1155/robot/subsystems/Intake.java → ...org/sciborgs1155/robot/intake/Intake.java
@@ -1,4 +1,4 @@
-package org.sciborgs1155.robot.subsystems;
+package org.sciborgs1155.robot.intake;
 
 import static org.sciborgs1155.robot.Constants.Auto.*;
 import static org.sciborgs1155.robot.Constants.Intake.*;
@@ -17,7 +17,7 @@
 import org.sciborgs1155.lib.failure.Fallible;
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
-import org.sciborgs1155.robot.subsystems.arm.ArmState.GamePiece;
+import org.sciborgs1155.robot.arm.ArmState.GamePiece;
 
 public class Intake extends SubsystemBase implements Fallible, Loggable, AutoCloseable {