Move robot base classes from opmode to framework (#8344)

Having these in opmode will be confusing to users when opmodes are added.

wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.addressableled;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Robot.java

@@ -7,10 +7,10 @@ package org.wpilib.examples.addressableled;
 import static org.wpilib.units.Units.Meters;
 import static org.wpilib.units.Units.MetersPerSecond;
 
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.led.AddressableLED;
 import org.wpilib.hardware.led.AddressableLEDBuffer;
 import org.wpilib.hardware.led.LEDPattern;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.units.measure.Distance;
 
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.apriltagsvision;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Robot.java

@@ -9,12 +9,12 @@ import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.geometry.Rotation3d;
 import org.wpilib.math.geometry.Transform3d;
 import org.wpilib.networktables.IntegerArrayPublisher;
 import org.wpilib.networktables.NetworkTable;
 import org.wpilib.networktables.NetworkTableInstance;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.vision.apriltag.AprilTagDetection;
 import org.wpilib.vision.apriltag.AprilTagDetector;
 import org.wpilib.vision.apriltag.AprilTagPoseEstimator;

wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.arcadedrive;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.arcadedrive;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.arcadedrivexboxcontroller;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.arcadedrivexboxcontroller;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.armsimulation;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.armsimulation;
 
 import org.wpilib.driverstation.Joystick;
 import org.wpilib.examples.armsimulation.subsystems.Arm;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /** This is a sample program to demonstrate the use of arm simulation with existing code. */
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/canpdp/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.canpdp;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/canpdp/Robot.java

@@ -4,8 +4,8 @@
 
 package org.wpilib.examples.canpdp;
 
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.power.PowerDistribution;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.differentialdrivebot;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java

@@ -5,8 +5,8 @@
 package org.wpilib.examples.differentialdrivebot;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);

wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.differentialdriveposeestimator;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java

@@ -5,10 +5,10 @@
 package org.wpilib.examples.differentialdriveposeestimator;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 import org.wpilib.networktables.DoubleArrayTopic;
 import org.wpilib.networktables.NetworkTableInstance;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final NetworkTableInstance m_inst = NetworkTableInstance.getDefault();

wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.digitalcommunication;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.digitalcommunication;
 
 import java.util.Optional;
 import org.wpilib.driverstation.DriverStation;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.discrete.DigitalOutput;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program demonstrating how to communicate to a light controller from the robot

wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.drivedistanceoffboard;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.drivedistanceoffboard;
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in

wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.dutycycleencoder;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Robot.java

@@ -4,9 +4,9 @@
 
 package org.wpilib.examples.dutycycleencoder;
 
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.rotation.DutyCycleEncoder;
 import org.wpilib.math.util.MathUtil;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 /** This example shows how to use a duty cycle encoder for devices such as an arm or elevator. */

wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleinput/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.dutycycleinput;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleinput/Robot.java

@@ -4,8 +4,8 @@
 
 package org.wpilib.examples.dutycycleinput;
 
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.rotation.DutyCycle;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.elevatorexponentialprofile;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Robot.java

@@ -5,9 +5,9 @@
 package org.wpilib.examples.elevatorexponentialprofile;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.controller.SimpleMotorFeedforward;
 import org.wpilib.math.trajectory.ExponentialProfile;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private static double kDt = 0.02;

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.elevatorexponentialsimulation;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.elevatorexponentialsimulation;
 
 import org.wpilib.driverstation.Joystick;
 import org.wpilib.examples.elevatorexponentialsimulation.subsystems.Elevator;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /** This is a sample program to demonstrate the use of elevator simulation. */
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.elevatorprofiledpid;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Robot.java

@@ -5,12 +5,12 @@
 package org.wpilib.examples.elevatorprofiledpid;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.ElevatorFeedforward;
 import org.wpilib.math.controller.ProfiledPIDController;
 import org.wpilib.math.trajectory.TrapezoidProfile;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private static double kDt = 0.02;

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.elevatorsimulation;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.elevatorsimulation;
 
 import org.wpilib.driverstation.Joystick;
 import org.wpilib.examples.elevatorsimulation.subsystems.Elevator;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /** This is a sample program to demonstrate the use of elevator simulation. */
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.elevatortrapezoidprofile;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Robot.java

@@ -5,9 +5,9 @@
 package org.wpilib.examples.elevatortrapezoidprofile;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.controller.SimpleMotorFeedforward;
 import org.wpilib.math.trajectory.TrapezoidProfile;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private static double kDt = 0.02;

wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.encoder;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java

@@ -4,9 +4,9 @@
 
 package org.wpilib.examples.encoder;
 
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.discrete.CounterBase;
 import org.wpilib.hardware.rotation.Encoder;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.eventloop;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Robot.java

@@ -7,11 +7,11 @@ package org.wpilib.examples.eventloop;
 import org.wpilib.driverstation.Joystick;
 import org.wpilib.event.BooleanEvent;
 import org.wpilib.event.EventLoop;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.PIDController;
 import org.wpilib.math.controller.SimpleMotorFeedforward;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   public static final double SHOT_VELOCITY = 200; // rpm

wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.flywheelbangbangcontroller;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java

@@ -5,6 +5,7 @@
 package org.wpilib.examples.flywheelbangbangcontroller;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.BangBangController;
@@ -14,7 +15,6 @@ import org.wpilib.math.system.LinearSystem;
 import org.wpilib.math.system.plant.DCMotor;
 import org.wpilib.math.system.plant.LinearSystemId;
 import org.wpilib.math.util.Units;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.simulation.EncoderSim;
 import org.wpilib.simulation.FlywheelSim;
 import org.wpilib.smartdashboard.SmartDashboard;

wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.gettingstarted;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.gettingstarted;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.system.Timer;
 import org.wpilib.util.sendable.SendableRegistry;
 

wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.gyro;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java

@@ -6,9 +6,9 @@ package org.wpilib.examples.gyro;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.gyromecanum;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Robot.java

@@ -6,9 +6,9 @@ package org.wpilib.examples.gyromecanum;
 
 import org.wpilib.drive.MecanumDrive;
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.hatchbotinlined;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java

@@ -7,7 +7,7 @@ package org.wpilib.examples.hatchbotinlined;
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
 import org.wpilib.driverstation.DriverStation;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.system.DataLogManager;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.hatchbottraditional;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java

@@ -7,7 +7,7 @@ package org.wpilib.examples.hatchbottraditional;
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
 import org.wpilib.driverstation.DriverStation;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.system.DataLogManager;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.hidrumble;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.hidrumble;
 
 import org.wpilib.driverstation.GenericHID.RumbleType;
 import org.wpilib.driverstation.XboxController;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /** This is a demo program showing the use of GenericHID's rumble feature. */
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.httpcamera;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java

@@ -8,7 +8,7 @@ import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.vision.camera.CvSink;
 import org.wpilib.vision.camera.CvSource;
 import org.wpilib.vision.camera.HttpCamera;

wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.i2ccommunication;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Robot.java

@@ -6,9 +6,9 @@ package org.wpilib.examples.i2ccommunication;
 
 import java.util.Optional;
 import org.wpilib.driverstation.DriverStation;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.bus.I2C;
 import org.wpilib.hardware.bus.I2C.Port;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program demonstrating how to communicate to a light controller from the robot

wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.intermediatevision;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Robot.java

@@ -8,7 +8,7 @@ import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.vision.camera.CvSink;
 import org.wpilib.vision.camera.CvSource;
 import org.wpilib.vision.camera.UsbCamera;

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.mecanumbot;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java

@@ -5,8 +5,8 @@
 package org.wpilib.examples.mecanumbot;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.mecanumdrive;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.mecanumdrive;
 
 import org.wpilib.drive.MecanumDrive;
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /** This is a demo program showing how to use Mecanum control with the MecanumDrive class. */

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.mecanumdriveposeestimator;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java

@@ -5,8 +5,8 @@
 package org.wpilib.examples.mecanumdriveposeestimator;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);

wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.mechanism2d;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java

@@ -5,10 +5,10 @@
 package org.wpilib.examples.mechanism2d;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.AnalogPotentiometer;
 import org.wpilib.hardware.rotation.Encoder;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.Mechanism2d;
 import org.wpilib.smartdashboard.MechanismLigament2d;
 import org.wpilib.smartdashboard.MechanismRoot2d;

wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.motorcontrol;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Robot.java

@@ -5,9 +5,9 @@
 package org.wpilib.examples.motorcontrol;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.potentiometerpid;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Robot.java

@@ -5,10 +5,10 @@
 package org.wpilib.examples.potentiometerpid;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.AnalogPotentiometer;
 import org.wpilib.math.controller.PIDController;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to

wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.quickvision;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.quickvision;
 
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.vision.stream.CameraServer;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.rapidreactcommandbot;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java

@@ -8,7 +8,7 @@ import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
 import org.wpilib.epilogue.Epilogue;
 import org.wpilib.epilogue.Logged;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.system.DataLogManager;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.romireference;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.romireference;
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in

wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.selectcommand;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.selectcommand;
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in

wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.simpledifferentialdrivesimulation;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java

@@ -6,6 +6,7 @@ package org.wpilib.examples.simpledifferentialdrivesimulation;
 
 import java.util.List;
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.controller.LTVUnicycleController;
 import org.wpilib.math.filter.SlewRateLimiter;
 import org.wpilib.math.geometry.Pose2d;
@@ -14,7 +15,6 @@ import org.wpilib.math.kinematics.ChassisSpeeds;
 import org.wpilib.math.trajectory.Trajectory;
 import org.wpilib.math.trajectory.TrajectoryConfig;
 import org.wpilib.math.trajectory.TrajectoryGenerator;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.system.Timer;
 
 public class Robot extends TimedRobot {

wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.solenoid;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Robot.java

@@ -5,11 +5,11 @@
 package org.wpilib.examples.solenoid;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.pneumatic.Compressor;
 import org.wpilib.hardware.pneumatic.DoubleSolenoid;
 import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
 import org.wpilib.hardware.pneumatic.Solenoid;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.smartdashboard.SmartDashboard;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.statespacearm;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java

@@ -5,6 +5,7 @@
 package org.wpilib.examples.statespacearm;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.LinearQuadraticRegulator;
@@ -19,7 +20,6 @@ import org.wpilib.math.system.plant.LinearSystemId;
 import org.wpilib.math.trajectory.TrapezoidProfile;
 import org.wpilib.math.util.Nat;
 import org.wpilib.math.util.Units;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller to control an arm.

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.statespaceelevator;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java

@@ -5,6 +5,7 @@
 package org.wpilib.examples.statespaceelevator;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.LinearQuadraticRegulator;
@@ -19,7 +20,6 @@ import org.wpilib.math.system.plant.LinearSystemId;
 import org.wpilib.math.trajectory.TrapezoidProfile;
 import org.wpilib.math.util.Nat;
 import org.wpilib.math.util.Units;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller to control an

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.statespaceflywheel;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java

@@ -5,6 +5,7 @@
 package org.wpilib.examples.statespaceflywheel;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.LinearQuadraticRegulator;
@@ -17,7 +18,6 @@ import org.wpilib.math.system.plant.DCMotor;
 import org.wpilib.math.system.plant.LinearSystemId;
 import org.wpilib.math.util.Nat;
 import org.wpilib.math.util.Units;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller to control a

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.statespaceflywheelsysid;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java

@@ -5,6 +5,7 @@
 package org.wpilib.examples.statespaceflywheelsysid;
 
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.hardware.rotation.Encoder;
 import org.wpilib.math.controller.LinearQuadraticRegulator;
@@ -16,7 +17,6 @@ import org.wpilib.math.system.LinearSystemLoop;
 import org.wpilib.math.system.plant.LinearSystemId;
 import org.wpilib.math.util.Nat;
 import org.wpilib.math.util.Units;
-import org.wpilib.opmode.TimedRobot;
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller to control a

wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.swervebot;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java

@@ -5,9 +5,9 @@
 package org.wpilib.examples.swervebot;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 import org.wpilib.math.util.MathUtil;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);

wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.swervedriveposeestimator;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java

@@ -5,8 +5,8 @@
 package org.wpilib.examples.swervedriveposeestimator;
 
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
-import org.wpilib.opmode.TimedRobot;
 
 public class Robot extends TimedRobot {
   private final XboxController m_controller = new XboxController(0);

wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.sysidroutine;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java

@@ -6,7 +6,7 @@ package org.wpilib.examples.sysidroutine;
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in

wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.tankdrive;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.tankdrive;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.Joystick;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**

wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Main.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.tankdrivexboxcontroller;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 /**
  * Do NOT add any static variables to this class, or any initialization at all. Unless you know what

wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java

@@ -6,8 +6,8 @@ package org.wpilib.examples.tankdrivexboxcontroller;
 
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.driverstation.XboxController;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**