From eb18f391e1da4da4debcd59f1d8eeb3bca91be5f Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Wed, 12 Jun 2024 18:25:09 -0700 Subject: [PATCH] Reorganized libraries in preparation of major overhaul. --- .gitmodules | 12 +++---- TeamCode/src/main/java/TrcCommonLib | 1 - TeamCode/src/main/java/TrcFtcLib | 1 - TeamCode/src/main/java/ftclib | 1 + TeamCode/src/main/java/teamcode/FtcAuto.java | 22 ++++++------- .../src/main/java/teamcode/FtcTeleOp.java | 16 ++++----- TeamCode/src/main/java/teamcode/FtcTest.java | 33 +++++++++---------- TeamCode/src/main/java/teamcode/Robot.java | 22 ++++++------- .../src/main/java/teamcode/RobotParams.java | 12 +++---- .../java/teamcode/autocommands/CmdAuto.java | 8 ++--- .../java/teamcode/autotasks/TaskAuto.java | 10 +++--- .../teamcode/drivebases/MecanumDrive.java | 10 +++--- .../java/teamcode/drivebases/RobotDrive.java | 12 +++---- .../java/teamcode/drivebases/SwerveDrive.java | 18 +++++----- .../java/teamcode/subsystems/BlinkinLEDs.java | 6 ++-- .../src/main/java/teamcode/vision/Vision.java | 26 +++++++-------- TeamCode/src/main/java/trclib | 1 + 17 files changed, 105 insertions(+), 106 deletions(-) delete mode 160000 TeamCode/src/main/java/TrcCommonLib delete mode 160000 TeamCode/src/main/java/TrcFtcLib create mode 160000 TeamCode/src/main/java/ftclib create mode 160000 TeamCode/src/main/java/trclib diff --git a/.gitmodules b/.gitmodules index e627bc4..c690de2 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,6 @@ -[submodule "TeamCode/src/main/java/TrcCommonLib"] - path = TeamCode/src/main/java/TrcCommonLib - url = https://github.com/trc492/TrcCommonLib -[submodule "TeamCode/src/main/java/TrcFtcLib"] - path = TeamCode/src/main/java/TrcFtcLib - url = https://github.com/trc492/TrcFtcLib +[submodule "TeamCode/src/main/java/trclib"] + path = TeamCode/src/main/java/trclib + url = https://github.com/trc492/trclib +[submodule "TeamCode/src/main/java/ftclib"] + path = TeamCode/src/main/java/ftclib + url = https://github.com/trc492/ftclib diff --git a/TeamCode/src/main/java/TrcCommonLib b/TeamCode/src/main/java/TrcCommonLib deleted file mode 160000 index 64a6669..0000000 --- a/TeamCode/src/main/java/TrcCommonLib +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 64a6669cbbfa321cda0ecaa0ec77f6e329fd5d6f diff --git a/TeamCode/src/main/java/TrcFtcLib b/TeamCode/src/main/java/TrcFtcLib deleted file mode 160000 index 60decd1..0000000 --- a/TeamCode/src/main/java/TrcFtcLib +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 60decd1306169e6b95d7b901f601b53c964a7480 diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib new file mode 160000 index 0000000..ff5b532 --- /dev/null +++ b/TeamCode/src/main/java/ftclib @@ -0,0 +1 @@ +Subproject commit ff5b5322d3524d5aa2c1829f6846eba7780dc636 diff --git a/TeamCode/src/main/java/teamcode/FtcAuto.java b/TeamCode/src/main/java/teamcode/FtcAuto.java index 968d2e2..e2e6d1c 100644 --- a/TeamCode/src/main/java/teamcode/FtcAuto.java +++ b/TeamCode/src/main/java/teamcode/FtcAuto.java @@ -26,17 +26,17 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import java.util.Locale; -import TrcCommonLib.command.CmdPidDrive; -import TrcCommonLib.command.CmdTimedDrive; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcTimer; -import TrcFtcLib.ftclib.FtcChoiceMenu; -import TrcFtcLib.ftclib.FtcMatchInfo; -import TrcFtcLib.ftclib.FtcMenu; -import TrcFtcLib.ftclib.FtcOpMode; -import TrcFtcLib.ftclib.FtcValueMenu; +import ftclib.archive.FtcChoiceMenu; +import ftclib.archive.FtcMatchInfo; +import ftclib.archive.FtcMenu; +import ftclib.archive.FtcOpMode; +import ftclib.archive.FtcValueMenu; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcRobot; +import trclib.archive.TrcTimer; +import trclib.command.CmdPidDrive; +import trclib.command.CmdTimedDrive; /** * This class contains the Autonomous Mode program. diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java index b6a6102..8e68291 100644 --- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java +++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java @@ -26,15 +26,15 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import java.util.Locale; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcDriveBase; -import TrcCommonLib.trclib.TrcGameController; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcTimer; -import TrcFtcLib.ftclib.FtcGamepad; -import TrcFtcLib.ftclib.FtcOpMode; +import ftclib.archive.FtcGamepad; +import ftclib.archive.FtcOpMode; import teamcode.drivebases.SwerveDrive; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcDriveBase; +import trclib.archive.TrcGameController; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcRobot; +import trclib.archive.TrcTimer; /** * This class contains the TeleOp Mode program. diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java index 0cae976..efa2e8b 100644 --- a/TeamCode/src/main/java/teamcode/FtcTest.java +++ b/TeamCode/src/main/java/teamcode/FtcTest.java @@ -29,25 +29,24 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; import java.util.Arrays; import java.util.Locale; -import TrcCommonLib.command.CmdDriveMotorsTest; -import TrcCommonLib.command.CmdPidDrive; -import TrcCommonLib.command.CmdTimedDrive; - -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcElapsedTimer; -import TrcCommonLib.trclib.TrcGameController; -import TrcCommonLib.trclib.TrcPidController; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcTimer; -import TrcCommonLib.trclib.TrcUtil; -import TrcFtcLib.ftclib.FtcChoiceMenu; -import TrcFtcLib.ftclib.FtcGamepad; -import TrcFtcLib.ftclib.FtcMenu; -import TrcFtcLib.ftclib.FtcPidCoeffCache; -import TrcFtcLib.ftclib.FtcValueMenu; +import ftclib.archive.FtcChoiceMenu; +import ftclib.archive.FtcGamepad; +import ftclib.archive.FtcMenu; +import ftclib.archive.FtcPidCoeffCache; +import ftclib.archive.FtcValueMenu; import teamcode.drivebases.RobotDrive; import teamcode.drivebases.SwerveDrive; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcElapsedTimer; +import trclib.archive.TrcGameController; +import trclib.archive.TrcPidController; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcRobot; +import trclib.archive.TrcTimer; +import trclib.archive.TrcUtil; +import trclib.command.CmdDriveMotorsTest; +import trclib.command.CmdPidDrive; +import trclib.command.CmdTimedDrive; /** * This class contains the Test Mode program. It extends FtcTeleOp so that we can teleop control the robot for diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java index fcf1c52..39587c7 100644 --- a/TeamCode/src/main/java/teamcode/Robot.java +++ b/TeamCode/src/main/java/teamcode/Robot.java @@ -22,22 +22,22 @@ package teamcode; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcDigitalInput; -import TrcCommonLib.trclib.TrcMotor; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcServo; -import TrcCommonLib.trclib.TrcTimer; -import TrcFtcLib.ftclib.FtcDashboard; -import TrcFtcLib.ftclib.FtcMatchInfo; -import TrcFtcLib.ftclib.FtcOpMode; -import TrcFtcLib.ftclib.FtcRobotBattery; +import ftclib.archive.FtcDashboard; +import ftclib.archive.FtcMatchInfo; +import ftclib.archive.FtcOpMode; +import ftclib.archive.FtcRobotBattery; import teamcode.drivebases.MecanumDrive; import teamcode.drivebases.RobotDrive; import teamcode.drivebases.SwerveDrive; import teamcode.subsystems.BlinkinLEDs; import teamcode.vision.Vision; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcDigitalInput; +import trclib.archive.TrcMotor; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcRobot; +import trclib.archive.TrcServo; +import trclib.archive.TrcTimer; /** * This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems. diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java index 037533b..7ff9955 100644 --- a/TeamCode/src/main/java/teamcode/RobotParams.java +++ b/TeamCode/src/main/java/teamcode/RobotParams.java @@ -28,12 +28,12 @@ import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import org.openftc.easyopencv.OpenCvCameraRotation; -import TrcCommonLib.trclib.TrcDriveBase.DriveOrientation; -import TrcCommonLib.trclib.TrcHomographyMapper; -import TrcCommonLib.trclib.TrcPidController; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcUtil; -import TrcFtcLib.ftclib.FtcGamepad; +import ftclib.archive.FtcGamepad; +import trclib.archive.TrcDriveBase.DriveOrientation; +import trclib.archive.TrcHomographyMapper; +import trclib.archive.TrcPidController; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcUtil; /** * This class contains robot and subsystem constants and parameters. diff --git a/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java b/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java index dc918e1..8a653a2 100644 --- a/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java +++ b/TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java @@ -22,12 +22,12 @@ package teamcode.autocommands; -import TrcCommonLib.trclib.TrcEvent; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcStateMachine; -import TrcCommonLib.trclib.TrcTimer; import teamcode.FtcAuto; import teamcode.Robot; +import trclib.archive.TrcEvent; +import trclib.archive.TrcRobot; +import trclib.archive.TrcStateMachine; +import trclib.archive.TrcTimer; /** * This class implements an autonomous strategy. diff --git a/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java b/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java index 826ade7..876a55a 100644 --- a/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java +++ b/TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java @@ -22,12 +22,12 @@ package teamcode.autotasks; -import TrcCommonLib.trclib.TrcAutoTask; -import TrcCommonLib.trclib.TrcEvent; -import TrcCommonLib.trclib.TrcOwnershipMgr; -import TrcCommonLib.trclib.TrcRobot; -import TrcCommonLib.trclib.TrcTaskMgr; import teamcode.Robot; +import trclib.archive.TrcAutoTask; +import trclib.archive.TrcEvent; +import trclib.archive.TrcOwnershipMgr; +import trclib.archive.TrcRobot; +import trclib.archive.TrcTaskMgr; /** * This class implements auto-assist task. diff --git a/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java index bbe2b2a..17ba6ba 100644 --- a/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java +++ b/TeamCode/src/main/java/teamcode/drivebases/MecanumDrive.java @@ -22,12 +22,12 @@ package teamcode.drivebases; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcMecanumDriveBase; -import TrcCommonLib.trclib.TrcOdometryWheels; -import TrcCommonLib.trclib.TrcPidDrive; -import TrcCommonLib.trclib.TrcPurePursuitDrive; import teamcode.RobotParams; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcMecanumDriveBase; +import trclib.archive.TrcOdometryWheels; +import trclib.archive.TrcPidDrive; +import trclib.archive.TrcPurePursuitDrive; /** * This class creates the RobotDrive subsystem that consists of wheel motors and related objects for driving the diff --git a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java index e4cf370..bd80431 100644 --- a/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java +++ b/TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java @@ -22,13 +22,13 @@ package teamcode.drivebases; -import TrcCommonLib.trclib.TrcDriveBase; -import TrcCommonLib.trclib.TrcPidDrive; -import TrcCommonLib.trclib.TrcPurePursuitDrive; -import TrcCommonLib.trclib.TrcUtil; -import TrcFtcLib.ftclib.FtcDcMotor; -import TrcFtcLib.ftclib.FtcImu; +import ftclib.archive.FtcDcMotor; +import ftclib.archive.FtcImu; import teamcode.RobotParams; +import trclib.archive.TrcDriveBase; +import trclib.archive.TrcPidDrive; +import trclib.archive.TrcPurePursuitDrive; +import trclib.archive.TrcUtil; /** * This class is intended to be extended by subclasses implementing different robot drive bases. diff --git a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java index 4d40635..2b61976 100644 --- a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java +++ b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java @@ -29,16 +29,16 @@ import java.io.PrintStream; import java.util.Arrays; import java.util.Scanner; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcOdometryWheels; -import TrcCommonLib.trclib.TrcPidDrive; -import TrcCommonLib.trclib.TrcPurePursuitDrive; -import TrcCommonLib.trclib.TrcSwerveDriveBase; -import TrcCommonLib.trclib.TrcSwerveModule; -import TrcFtcLib.ftclib.FtcAnalogEncoder; -import TrcFtcLib.ftclib.FtcCRServo; -import TrcFtcLib.ftclib.FtcDcMotor; +import ftclib.archive.FtcAnalogEncoder; +import ftclib.archive.FtcCRServo; +import ftclib.archive.FtcDcMotor; import teamcode.RobotParams; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcOdometryWheels; +import trclib.archive.TrcPidDrive; +import trclib.archive.TrcPurePursuitDrive; +import trclib.archive.TrcSwerveDriveBase; +import trclib.archive.TrcSwerveModule; /** * This class creates the RobotDrive subsystem that consists of wheel motors and related objects for driving the diff --git a/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java b/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java index bdb7b76..0da84cc 100644 --- a/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java +++ b/TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java @@ -22,9 +22,9 @@ package teamcode.subsystems; -import TrcCommonLib.trclib.TrcDriveBase; -import TrcCommonLib.trclib.TrcRevBlinkin; -import TrcFtcLib.ftclib.FtcRevBlinkin; +import ftclib.archive.FtcRevBlinkin; +import trclib.archive.TrcDriveBase; +import trclib.archive.TrcRevBlinkin; /** * This class encapsulates the REV Blinkin LED controller to provide a priority indicator showing the status of the diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java index 40240bb..9090910 100644 --- a/TeamCode/src/main/java/teamcode/vision/Vision.java +++ b/TeamCode/src/main/java/teamcode/vision/Vision.java @@ -35,22 +35,22 @@ import org.openftc.easyopencv.OpenCvCameraFactory; import java.util.ArrayList; -import TrcCommonLib.trclib.TrcDbgTrace; -import TrcCommonLib.trclib.TrcOpenCvColorBlobPipeline; -import TrcCommonLib.trclib.TrcOpenCvDetector; -import TrcCommonLib.trclib.TrcPose2D; -import TrcCommonLib.trclib.TrcVisionTargetInfo; -import TrcFtcLib.ftclib.FtcEocvColorBlobProcessor; -import TrcFtcLib.ftclib.FtcOpMode; -import TrcFtcLib.ftclib.FtcRawEocvColorBlobPipeline; -import TrcFtcLib.ftclib.FtcRawEocvVision; -import TrcFtcLib.ftclib.FtcVision; -import TrcFtcLib.ftclib.FtcVisionAprilTag; -import TrcFtcLib.ftclib.FtcVisionEocvColorBlob; -import TrcFtcLib.ftclib.FtcVisionTensorFlow; +import ftclib.archive.FtcEocvColorBlobProcessor; +import ftclib.archive.FtcOpMode; +import ftclib.archive.FtcRawEocvColorBlobPipeline; +import ftclib.archive.FtcRawEocvVision; +import ftclib.archive.FtcVision; +import ftclib.archive.FtcVisionAprilTag; +import ftclib.archive.FtcVisionEocvColorBlob; +import ftclib.archive.FtcVisionTensorFlow; import teamcode.Robot; import teamcode.RobotParams; import teamcode.subsystems.BlinkinLEDs; +import trclib.archive.TrcDbgTrace; +import trclib.archive.TrcOpenCvColorBlobPipeline; +import trclib.archive.TrcOpenCvDetector; +import trclib.archive.TrcPose2D; +import trclib.archive.TrcVisionTargetInfo; /** * This class implements AprilTag/TensorFlow/Eocv Vision for the game season. It creates and initializes all the diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib new file mode 160000 index 0000000..25e0b68 --- /dev/null +++ b/TeamCode/src/main/java/trclib @@ -0,0 +1 @@ +Subproject commit 25e0b6828f6689c275be87dbda7f8e9dca0530d8