diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java index 9f7f399c68..fc1b5fd391 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java @@ -6,18 +6,18 @@ package edu.wpi.first.wpilibj2.command; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.HolonomicDriveController; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; import java.util.function.Consumer; import java.util.function.Supplier; diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java index b3a747ce79..a3d874f721 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj2.command; -import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State; +import static edu.wpi.first.math.trajectory.TrapezoidProfile.State; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java index 6139961b64..f960f8b63d 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj2.command; -import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State; +import static edu.wpi.first.math.trajectory.TrapezoidProfile.State; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; /** * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java index 2bba7ea787..2ae3631bfc 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java @@ -6,15 +6,15 @@ package edu.wpi.first.wpilibj2.command; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; import java.util.function.BiConsumer; import java.util.function.Supplier; diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java index 106d2d0097..52cc658925 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java @@ -6,15 +6,15 @@ package edu.wpi.first.wpilibj2.command; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.HolonomicDriveController; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.trajectory.Trajectory; import java.util.function.Consumer; import java.util.function.Supplier; diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java index 90b2011c5c..674328ea23 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj2.command; -import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State; +import static edu.wpi.first.math.trajectory.TrapezoidProfile.State; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import java.util.function.Consumer; /** diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java index 330a633ac1..0a6c65877b 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java @@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile; /** * A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java index 8c5489d7ea..16cab4d12d 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java @@ -8,19 +8,19 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveOdometry; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.simulation.SimHooks; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import java.util.ArrayList; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java index 8610cde69b..3b48ff60b5 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java @@ -8,19 +8,19 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.simulation.SimHooks; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import java.util.ArrayList; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java index 7116077bc5..cde77003bb 100644 --- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java +++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java @@ -9,6 +9,7 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; import edu.wpi.first.hal.util.BoundaryException; +import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; import java.util.concurrent.locks.ReentrantLock; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java index 5569ba9ac0..849a869588 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SlewRateLimiter.java @@ -4,13 +4,13 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpiutil.math.MathUtil; +import edu.wpi.first.math.MathUtil; /** * A class that limits the rate of change of an input value. Useful for implementing voltage, * setpoint, and/or output ramps. A slew-rate limit is most appropriate when the quantity being * controlled is a velocity or a voltage; when controlling a position, consider using a {@link - * edu.wpi.first.wpilibj.trajectory.TrapezoidProfile} instead. + * edu.wpi.first.math.trajectory.TrapezoidProfile} instead. */ public class SlewRateLimiter { private final double m_rateLimit; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java index f1d7f81da7..6cadf487b9 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.controller; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; /** * This holonomic drive controller can be used to follow trajectories using a holonomic drive train diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java index 08a0e28ec5..68e648da60 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java @@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.controller; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; -import edu.wpi.first.wpiutil.math.MathUtil; /** Implements a PID control loop. */ @SuppressWarnings("PMD.TooManyFields") diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java index 427291875b..514bd31dd3 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java @@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.controller; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpiutil.math.MathUtil; /** * Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Users should diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java index 3231899673..90188ed91e 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java @@ -7,11 +7,11 @@ package edu.wpi.first.wpilibj.drive; import edu.wpi.first.hal.FRCNetComm.tInstances; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.SpeedController; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; -import edu.wpi.first.wpiutil.math.MathUtil; import java.util.StringJoiner; /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java index 6702fb84f6..b7dff3db4c 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java @@ -7,11 +7,11 @@ package edu.wpi.first.wpilibj.drive; import edu.wpi.first.hal.FRCNetComm.tInstances; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.SpeedController; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; -import edu.wpi.first.wpiutil.math.MathUtil; import java.util.StringJoiner; /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java index 7781b9409f..0fda4a0bfa 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java @@ -7,11 +7,11 @@ package edu.wpi.first.wpilibj.drive; import edu.wpi.first.hal.FRCNetComm.tInstances; import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.Sendable; import edu.wpi.first.wpilibj.SpeedController; import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder; import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry; -import edu.wpi.first.wpiutil.math.MathUtil; import java.util.StringJoiner; /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java index 8b9f9a7206..27377be03e 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.interfaces; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation2d; /** Interface for yaw rate gyros. */ public interface Gyro extends AutoCloseable { @@ -50,7 +50,7 @@ public interface Gyro extends AutoCloseable { double getRate(); /** - * Return the heading of the robot as a {@link edu.wpi.first.wpilibj.geometry.Rotation2d}. + * Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}. * *

The angle is continuous, that is it will continue from 360 to 361 degrees. This allows * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from @@ -61,8 +61,7 @@ public interface Gyro extends AutoCloseable { * *

This heading is based on integration of the returned rate from the gyro. * - * @return the current heading of the robot as a {@link - * edu.wpi.first.wpilibj.geometry.Rotation2d}. + * @return the current heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}. */ default Rotation2d getRotation2d() { return Rotation2d.fromDegrees(-getAngle()); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java index 676b13c49d..12c9b6d576 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSim.java @@ -5,8 +5,8 @@ package edu.wpi.first.wpilibj.simulation; import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.AnalogEncoder; -import edu.wpi.first.wpilibj.geometry.Rotation2d; /** Class to control a simulated analog encoder. */ public class AnalogEncoderSim { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java index fffd441d97..c265edd8c5 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java @@ -4,21 +4,21 @@ package edu.wpi.first.wpilibj.simulation; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N7; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N7; /** * This class simulates the state of the drivetrain. In simulationPeriodic, users should first set @@ -101,9 +101,9 @@ public class DifferentialDrivetrainSim { * * @param drivetrainPlant The {@link LinearSystem} representing the robot's drivetrain. This * system can be created with {@link - * edu.wpi.first.wpilibj.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, + * edu.wpi.first.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, * double, double, double, double, double)} or {@link - * edu.wpi.first.wpilibj.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double, + * edu.wpi.first.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double, * double, double)}. * @param driveMotor A {@link DCMotor} representing the drivetrain. * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java index cc271e21a5..753d61afb7 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java @@ -4,14 +4,14 @@ package edu.wpi.first.wpilibj.simulation; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; /** Represents a simulated elevator mechanism. */ public class ElevatorSim extends LinearSystemSim { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java index 8dd7bc43dd..aaf13de0e4 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java @@ -4,12 +4,12 @@ package edu.wpi.first.wpilibj.simulation; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; /** Represents a simulated flywheel mechanism. */ public class FlywheelSim extends LinearSystemSim { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java index aec9ce7273..155ec23ca3 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java @@ -4,12 +4,12 @@ package edu.wpi.first.wpilibj.simulation; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; import org.ejml.MatrixDimensionException; import org.ejml.simple.SimpleMatrix; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java index c0ecc9bede..3891090892 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java @@ -4,14 +4,14 @@ package edu.wpi.first.wpilibj.simulation; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; /** Represents a simulated single jointed arm mechanism. */ public class SingleJointedArmSim extends LinearSystemSim { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java index 01181443f6..ad4ba32e97 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.smartdashboard; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.wpilibj.Sendable; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; import java.util.ArrayList; import java.util.List; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java index aee7e13dac..ae06494e3f 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.smartdashboard; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.networktables.NetworkTableEntry; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; import java.nio.ByteBuffer; import java.nio.ByteOrder; import java.util.ArrayList; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java index eec2cdc774..ac031378da 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.util; -import edu.wpi.first.wpiutil.math.MathUtil; +import edu.wpi.first.math.MathUtil; import java.util.Objects; /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java index 4e47480b6d..cd7154ddde 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.util; -import edu.wpi.first.wpiutil.math.MathUtil; +import edu.wpi.first.math.MathUtil; import java.util.Objects; /** Represents colors with 8 bits of precision. */ diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java b/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java similarity index 95% rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java rename to wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java index 64001d231b..668531427d 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java @@ -2,12 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.util; +package edu.wpi.first.math.util; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.params.provider.Arguments.arguments; +import edu.wpi.first.wpilibj.util.Color; import java.util.stream.Stream; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java b/wpilibj/src/test/java/edu/wpi/first/math/util/ErrorMessagesTest.java similarity index 91% rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java rename to wpilibj/src/test/java/edu/wpi/first/math/util/ErrorMessagesTest.java index e68fe65eb6..5153b00f3e 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/math/util/ErrorMessagesTest.java @@ -2,13 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.util; +package edu.wpi.first.math.util; import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertThrows; import edu.wpi.first.wpilibj.UtilityClassTest; +import edu.wpi.first.wpilibj.util.ErrorMessages; import org.junit.jupiter.api.Test; class ErrorMessagesTest extends UtilityClassTest { diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java index c7610b8329..12cf829f24 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java @@ -7,15 +7,15 @@ package edu.wpi.first.wpilibj.controller; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Twist2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpiutil.math.MathUtil; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import java.util.ArrayList; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java index c0f4fb04e8..c13e8b856e 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java @@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.controller; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import org.junit.jupiter.api.Test; class ProfiledPIDControllerTest { diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java index 373bfc8a18..37265d494a 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java @@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.controller; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java index a5d78871c1..a3736e89af 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java @@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.AnalogEncoder; import edu.wpi.first.wpilibj.AnalogInput; -import edu.wpi.first.wpilibj.geometry.Rotation2d; import org.junit.jupiter.api.Test; public class AnalogEncoderSimTest { diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java index f9ecdfed69..246236ae0d 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java @@ -7,24 +7,24 @@ package edu.wpi.first.wpilibj.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.controller.LinearPlantInversionFeedforward; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.Vector; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N7; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.controller.LinearPlantInversionFeedforward; +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N7; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; +import edu.wpi.first.math.util.Units; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java index 13f57f71c2..b59b438960 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java @@ -7,14 +7,14 @@ package edu.wpi.first.wpilibj.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; import org.junit.jupiter.api.Test; public class ElevatorSimTest { diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java index a1449c2d2f..26aa6b9730 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java @@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.util.Units; import org.junit.jupiter.api.Test; public class SingleJointedArmSimTest { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java index 8e0ca10eee..b1d194d024 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java @@ -4,8 +4,8 @@ package edu.wpi.first.wpilibj.commands.profiledpidcommand; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand; // NOTE: Consider using this command inline, rather than writing a subclass. For more diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java index c46afd964d..38240a9c52 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java @@ -4,8 +4,8 @@ package edu.wpi.first.wpilibj.commands.profiledpidsubsystem; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem; public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java index c31819b928..7a5571983b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.commands.trapezoidprofilecommand; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand; // NOTE: Consider using this command inline, rather than writing a subclass. For more diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java index c0660abf5b..e95f95792f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.commands.trapezoidprofilesubsystem; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem; public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java index 23b89a8ce4..12d56c2a79 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java @@ -4,12 +4,12 @@ package edu.wpi.first.wpilibj.examples.armbot.subsystems; +import edu.wpi.first.math.controller.ArmFeedforward; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Encoder; -import edu.wpi.first.wpilibj.controller.ArmFeedforward; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem; /** A robot arm subsystem that moves with a motion profile. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java index acac10fabc..152700e367 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems; -import edu.wpi.first.wpilibj.controller.ArmFeedforward; +import edu.wpi.first.math.controller.ArmFeedforward; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants; import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem; /** A robot arm subsystem that moves with a motion profile. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java index 56ede78abc..ad376e7528 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java @@ -4,6 +4,9 @@ package edu.wpi.first.wpilibj.examples.armsimulation; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.RobotController; @@ -14,9 +17,6 @@ import edu.wpi.first.wpilibj.simulation.BatterySim; import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; /** This is a sample program to demonstrate the use of elevator simulation with existing code. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java index 7f7e76b949..ee5e804f70 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java @@ -4,14 +4,14 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java index 74daf11e80..4c6e48259e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java @@ -4,22 +4,22 @@ package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator; import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; /** Represents a differential drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java index d70fdc16fd..c9705d6d18 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java @@ -6,13 +6,13 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard; import static edu.wpi.first.wpilibj.XboxController.Button; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java index 30dc602605..5bfa10d177 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java @@ -4,9 +4,9 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand; /** Drives a set distance using a motion profile. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java index 82373a834e..9e895acb40 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class DriveSubsystem extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java index 13d59bad11..44771bc936 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java @@ -4,13 +4,13 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; public class Robot extends TimedRobot { private static double kDt = 0.02; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java index ccae2cb4d7..f8166c0720 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java @@ -4,6 +4,9 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.RobotController; @@ -14,9 +17,6 @@ import edu.wpi.first.wpilibj.simulation.BatterySim; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; /** This is a sample program to demonstrate the use of elevator simulation with existing code. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java index 5c574d6211..d459eeb899 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; public class Robot extends TimedRobot { private static double kDt = 0.02; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java index e6340af507..8f23abcccd 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java @@ -4,9 +4,9 @@ package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj2.command.PIDSubsystem; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java index 14bcfed26a..671298c146 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand; /** A command that will turn the robot to the specified angle using a motion profile. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java index c50a2b247e..acb4a8d6b1 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.mecanumbot; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveOdometry; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java index 5d3070fa45..895983d272 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java @@ -4,10 +4,10 @@ package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java index c209346a74..a2df728252 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java @@ -4,6 +4,12 @@ package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController.Button; @@ -13,12 +19,6 @@ import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoCon import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants; import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.MecanumControllerCommand; import edu.wpi.first.wpilibj2.command.RunCommand; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java index bb4913476c..23da86770e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages; +import edu.wpi.first.math.kinematics.MecanumDriveOdometry; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.ADXRS450_Gyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.drive.MecanumDrive; import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants; -import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java index 3fba18a6bc..547dc70dda 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java @@ -4,22 +4,22 @@ package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.estimator.MecanumDrivePoseEstimator; import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; /** Represents a mecanum drive style drivetrain. */ @SuppressWarnings("PMD.TooManyFields") diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java index c38cf1799d..4059768b70 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.util.Units; /** This dummy class represents a global measurement sensor, such as a computer vision solution. */ public final class ExampleGlobalMeasurementSensor { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java index e3f2a43fa9..8b73220b7b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java @@ -4,7 +4,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java index 12d361e84a..a51672b26e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java @@ -6,22 +6,22 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand; import static edu.wpi.first.wpilibj.XboxController.Button; +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants; import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants; import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RunCommand; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java index 275b49f215..f64f3b7bc0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java @@ -4,14 +4,14 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.ADXRS450_Gyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants; -import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java index d1ff5dd849..76cf574f6f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.ramsetecontroller; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java index 0697473e26..14cb73ba1a 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java @@ -4,19 +4,19 @@ package edu.wpi.first.wpilibj.examples.ramsetecontroller; +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.SlewRateLimiter; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.util.Units; import java.util.List; public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java index 2cb16c13fa..221966ab59 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java @@ -4,16 +4,20 @@ package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj.simulation.AnalogGyroSim; @@ -21,10 +25,6 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.numbers.N2; @SuppressWarnings("PMD.TooManyFields") public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java index 130721f6d8..f256cc8aff 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java @@ -4,18 +4,18 @@ package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation; +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.SlewRateLimiter; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; import java.util.List; public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java index c7f8d24ece..9877906c05 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java @@ -4,23 +4,23 @@ package edu.wpi.first.wpilibj.examples.statespacearm; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.LinearQuadraticRegulator; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.LinearSystemLoop; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.LinearSystemLoop; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; /** * This is a sample program to demonstrate how to use a state-space controller to control an arm. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java index 2c8036a122..2177bd7145 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java index 4db41a60fc..b2999708c0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java @@ -4,22 +4,20 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation; -import static edu.wpi.first.wpilibj.XboxController.Button; - +import edu.wpi.first.math.controller.RamseteController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController.Button; import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.RamseteController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RunCommand; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java index 32394ea1d3..fe2fd39c79 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java @@ -4,16 +4,17 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.ADXRS450_Gyro; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.Constants.DriveConstants; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim; @@ -22,7 +23,6 @@ import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpiutil.math.VecBuilder; public class DriveSubsystem extends SubsystemBase { // The motors on the left side of the drive. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java index 64c3bd1df7..f1aca19c81 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java @@ -4,23 +4,23 @@ package edu.wpi.first.wpilibj.examples.statespaceelevator; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.LinearQuadraticRegulator; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.LinearSystemLoop; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.LinearSystemLoop; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; /** * This is a sample program to demonstrate how to use a state-space controller to control an diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java index cb6d10a076..06e8d29bb6 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java @@ -4,21 +4,21 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheel; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.LinearQuadraticRegulator; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.LinearSystemLoop; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.LinearSystemLoop; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; /** * This is a sample program to demonstrate how to use a state-space controller to control a diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java index 7bb4491f12..538f3f7484 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java @@ -4,20 +4,20 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.LinearQuadraticRegulator; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.LinearSystemLoop; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.LinearSystemLoop; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; /** * This is a sample program to demonstrate how to use a state-space controller to control a diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java index 10ab169224..acfff2112e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.examples.swervebot; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.wpilibj.AnalogGyro; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry; /** Represents a swerve drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java index cd5691ecf7..9fcf669d23 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.swervebot; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; public class SwerveModule { private static final double kWheelRadius = 0.0508; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java index 3352deed82..40a352237c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java @@ -4,9 +4,9 @@ package edu.wpi.first.wpilibj.examples.swervecontrollercommand; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java index 20075a95d3..3a8f903dc0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java @@ -4,6 +4,12 @@ package edu.wpi.first.wpilibj.examples.swervecontrollercommand; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.controller.PIDController; @@ -12,12 +18,6 @@ import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoCons import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants; import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants; import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java index 11d7f2cb73..7a06bc4915 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.ADXRS450_Gyro; import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj2.command.SubsystemBase; @SuppressWarnings("PMD.ExcessiveImports") diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java index 12c6aad699..2bc737f42b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java @@ -4,14 +4,14 @@ package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; public class SwerveModule { private final Spark m_driveMotor; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java index 3900225268..dd6843be8a 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.estimator.SwerveDrivePoseEstimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; /** Represents a swerve drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java index 232d6fd22f..3aeceb8564 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java @@ -4,11 +4,11 @@ package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.util.Units; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.util.Units; /** This dummy class represents a global measurement sensor, such as a computer vision solution. */ public final class ExampleGlobalMeasurementSensor { diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java index cf36020959..3110bc2040 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java @@ -4,15 +4,15 @@ package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; public class SwerveModule { private static final double kWheelRadius = 0.0508; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java index 754d0eae2b..199d6f6a93 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java @@ -4,8 +4,8 @@ package edu.wpi.first.wpilibj.examples.ultrasonic; +import edu.wpi.first.math.filter.MedianFilter; import edu.wpi.first.wpilibj.AnalogInput; -import edu.wpi.first.wpilibj.MedianFilter; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java index 79726292da..61e2bf7818 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java @@ -4,8 +4,8 @@ package edu.wpi.first.wpilibj.examples.ultrasonicpid; +import edu.wpi.first.math.filter.MedianFilter; import edu.wpi.first.wpilibj.AnalogInput; -import edu.wpi.first.wpilibj.MedianFilter; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.drive.DifferentialDrive; diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java index 87e594dfac..690ec42cb1 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java @@ -8,11 +8,12 @@ import static org.junit.Assert.assertEquals; import static org.junit.Assert.assertFalse; import static org.junit.Assert.assertTrue; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.wpilibj.controller.PIDController; import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture; import edu.wpi.first.wpilibj.test.AbstractComsSetup; import edu.wpi.first.wpilibj.test.TestBench; -import edu.wpi.first.wpiutil.math.MathUtil; import java.util.Arrays; import java.util.Collection; import java.util.logging.Logger; diff --git a/wpimath/build.gradle b/wpimath/build.gradle index 8464f87e08..2e002ca461 100644 --- a/wpimath/build.gradle +++ b/wpimath/build.gradle @@ -5,7 +5,7 @@ ext { groupId = 'edu.wpi.first.wpimath' nativeName = 'wpimath' - devMain = 'edu.wpi.first.wpiutil.math.DevMain' + devMain = 'edu.wpi.first.math.DevMain' } apply from: "${rootDir}/shared/jni/setupBuild.gradle" @@ -69,8 +69,8 @@ dependencies { def wpilibNumberFileInput = file("src/generate/GenericNumber.java.in") def natFileInput = file("src/generate/Nat.java.in") def natGetterInput = file("src/generate/NatGetter.java.in") -def wpilibNumberFileOutputDir = file("$buildDir/generated/java/edu/wpi/first/wpiutil/math/numbers") -def wpilibNatFileOutput = file("$buildDir/generated/java/edu/wpi/first/wpiutil/math/Nat.java") +def wpilibNumberFileOutputDir = file("$buildDir/generated/java/edu/wpi/first/math/numbers") +def wpilibNatFileOutput = file("$buildDir/generated/java/edu/wpi/first/math/Nat.java") def maxNum = 20 task generateNumbers() { @@ -111,7 +111,7 @@ task generateNat() { def importsString = ""; for(i in 0..maxNum) { - importsString += "import edu.wpi.first.wpiutil.math.numbers.N${i};\n" + importsString += "import edu.wpi.first.math.numbers.N${i};\n" template += natGetterInput.text.replace('${num}', i.toString()) + "\n" } template += "}\n" // Close the class body diff --git a/wpimath/generate_numbers.py b/wpimath/generate_numbers.py index 701f3e652b..de9ef447f1 100644 --- a/wpimath/generate_numbers.py +++ b/wpimath/generate_numbers.py @@ -38,7 +38,7 @@ def main(): importsString = "" for i in range(MAX_NUM + 1): - importsString += f"import edu.wpi.first.wpiutil.math.numbers.N{i};\n" + importsString += f"import edu.wpi.first.math.numbers.N{i};\n" template += getter.replace("${num}", str(i)) template += "}\n" diff --git a/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java b/wpimath/src/dev/java/edu/wpi/first/math/DevMain.java similarity index 92% rename from wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java rename to wpimath/src/dev/java/edu/wpi/first/math/DevMain.java index b2a8254917..c7b779e007 100644 --- a/wpimath/src/dev/java/edu/wpi/first/wpiutil/math/DevMain.java +++ b/wpimath/src/dev/java/edu/wpi/first/math/DevMain.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; public final class DevMain { /** Main entry point. */ diff --git a/wpimath/src/generate/GenericNumber.java.in b/wpimath/src/generate/GenericNumber.java.in index 5a36582e4d..3bdc1b6ba2 100644 --- a/wpimath/src/generate/GenericNumber.java.in +++ b/wpimath/src/generate/GenericNumber.java.in @@ -5,10 +5,10 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpiutil.math.numbers; +package edu.wpi.first.math.numbers; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; /** * A class representing the number ${num}. diff --git a/wpimath/src/generate/Nat.java.in b/wpimath/src/generate/Nat.java.in index 666bd1c32a..2719df0c39 100644 --- a/wpimath/src/generate/Nat.java.in +++ b/wpimath/src/generate/Nat.java.in @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; //CHECKSTYLE.OFF: ImportOrder {{REPLACEWITHIMPORTS}} diff --git a/wpimath/src/main/java/edu/wpi/first/math/Drake.java b/wpimath/src/main/java/edu/wpi/first/math/Drake.java index 70c07391df..886f7da6f4 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/Drake.java +++ b/wpimath/src/main/java/edu/wpi/first/math/Drake.java @@ -4,8 +4,6 @@ package edu.wpi.first.math; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; import org.ejml.simple.SimpleMatrix; public final class Drake { diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java b/wpimath/src/main/java/edu/wpi/first/math/MatBuilder.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java rename to wpimath/src/main/java/edu/wpi/first/math/MatBuilder.java index b75ef91ce6..e5b195224c 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java +++ b/wpimath/src/main/java/edu/wpi/first/math/MatBuilder.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; import java.util.Objects; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java rename to wpimath/src/main/java/edu/wpi/first/math/MathUtil.java index c57ca98422..c4a661a125 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java +++ b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; public final class MathUtil { private MathUtil() { diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java b/wpimath/src/main/java/edu/wpi/first/math/Matrix.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java rename to wpimath/src/main/java/edu/wpi/first/math/Matrix.java index a49273d3ff..be9d56d66c 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java +++ b/wpimath/src/main/java/edu/wpi/first/math/Matrix.java @@ -2,10 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; -import edu.wpi.first.math.WPIMathJNI; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.numbers.N1; import java.util.Objects; import org.ejml.MatrixDimensionException; import org.ejml.data.DMatrixRMaj; diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java rename to wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java index ac0e5fd670..7600e31573 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java +++ b/wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.numbers.N1; import java.util.Objects; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java b/wpimath/src/main/java/edu/wpi/first/math/Num.java similarity index 91% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java rename to wpimath/src/main/java/edu/wpi/first/math/Num.java index 8201255e09..ef0fd2d815 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Num.java +++ b/wpimath/src/main/java/edu/wpi/first/math/Num.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; /** A number expressed as a java class. */ public abstract class Num { diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Pair.java b/wpimath/src/main/java/edu/wpi/first/math/Pair.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/Pair.java rename to wpimath/src/main/java/edu/wpi/first/math/Pair.java index 26229a047d..d1a68c7099 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Pair.java +++ b/wpimath/src/main/java/edu/wpi/first/math/Pair.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; public class Pair { private final A m_first; diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java rename to wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java index eb042aaac2..c93ad320b9 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java +++ b/wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java @@ -2,9 +2,8 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; -import edu.wpi.first.math.WPIMathJNI; import java.util.function.BiFunction; import org.ejml.data.DMatrixRMaj; import org.ejml.dense.row.NormOps_DDRM; diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java b/wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java similarity index 91% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java rename to wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java index 29e5a7a6a1..7bf10615ba 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java +++ b/wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N10; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N4; -import edu.wpi.first.wpiutil.math.numbers.N5; -import edu.wpi.first.wpiutil.math.numbers.N6; -import edu.wpi.first.wpiutil.math.numbers.N7; -import edu.wpi.first.wpiutil.math.numbers.N8; -import edu.wpi.first.wpiutil.math.numbers.N9; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N10; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N4; +import edu.wpi.first.math.numbers.N5; +import edu.wpi.first.math.numbers.N6; +import edu.wpi.first.math.numbers.N7; +import edu.wpi.first.math.numbers.N8; +import edu.wpi.first.math.numbers.N9; /** * A specialization of {@link MatBuilder} for constructing vectors (Nx1 matrices). diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java b/wpimath/src/main/java/edu/wpi/first/math/Vector.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java rename to wpimath/src/main/java/edu/wpi/first/math/Vector.java index 276ee34f6e..b2d989a039 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Vector.java +++ b/wpimath/src/main/java/edu/wpi/first/math/Vector.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.numbers.N1; import org.ejml.simple.SimpleMatrix; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java index 967b1742f4..2991511237 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ArmFeedforward.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; /** * A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java index 9b3dc8c460..c01638ce10 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforward.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; -import edu.wpi.first.wpilibj.system.NumericalJacobian; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.NumericalJacobian; import java.util.function.BiFunction; import java.util.function.Function; @@ -17,7 +17,7 @@ import java.util.function.Function; * *

If given the vector valued function as f(x, u) where x is the state vector and u is the input * vector, the B matrix(continuous input matrix) is calculated through a {@link - * edu.wpi.first.wpilibj.system.NumericalJacobian}. In this case f has to be control-affine (of the + * edu.wpi.first.math.system.NumericalJacobian}. In this case f has to be control-affine (of the * form f(x) + Bu). * *

The feedforward is calculated as u_ff = B+ (rDot - f(x)), where diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java index ebab615e6b..248015f134 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/ElevatorFeedforward.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; /** * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java index 00d041f471..8610c58c64 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforward.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; import org.ejml.simple.SimpleMatrix; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java index 0d6eca348f..5aa19e92ec 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import edu.wpi.first.math.Drake; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.Vector; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; import org.ejml.simple.SimpleMatrix; /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java similarity index 96% rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java index 7f875874b3..086f8206a9 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; /** * Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java rename to wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java index 5c28f68fad..85bdcf32a2 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/controller/SimpleMotorFeedforward.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */ @SuppressWarnings("MemberName") diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java index c7077108bf..ce28dd48dc 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/AngleStatistics.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpiutil.math.MathUtil; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; import java.util.function.BiFunction; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java index 66873dec41..d78d254e12 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java @@ -2,29 +2,29 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; import edu.wpi.first.wpiutil.WPIUtilJNI; -import edu.wpi.first.wpiutil.math.MatBuilder; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N5; import java.util.function.BiConsumer; /** - * This class wraps an {@link edu.wpi.first.wpilibj.estimator.UnscentedKalmanFilter Unscented Kalman + * This class wraps an {@link edu.wpi.first.math.estimator.UnscentedKalmanFilter Unscented Kalman * Filter} to fuse latency-compensated vision measurements with differential drive encoder * measurements. It will correct for noisy vision measurements and encoder drift. It is intended to - * be an easy drop-in for {@link edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry}; in - * fact, if you never call {@link DifferentialDrivePoseEstimator#addVisionMeasurement} and only call + * be an easy drop-in for {@link edu.wpi.first.math.kinematics.DifferentialDriveOdometry}; in fact, + * if you never call {@link DifferentialDrivePoseEstimator#addVisionMeasurement} and only call * {@link DifferentialDrivePoseEstimator#update} then this will behave exactly the same as * DifferentialDriveOdometry. * diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java index 2f3343c982..325159ec20 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import edu.wpi.first.math.Drake; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.NumericalJacobian; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.NumericalJacobian; import java.util.function.BiFunction; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java index f98d40c47c..197bb9367e 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import edu.wpi.first.math.Drake; import edu.wpi.first.math.MathSharedStore; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; /** * A Kalman filter combines predictions from a model and measurements to give an estimate of the diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java index 29685d33e6..52ebb5c063 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanFilterLatencyCompensator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; import java.util.ArrayList; import java.util.List; import java.util.Map; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanTypeFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java similarity index 81% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanTypeFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java index 25de57a317..3fd3957d71 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/KalmanTypeFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; @SuppressWarnings({"ParameterName", "InterfaceTypeParameterName"}) interface KalmanTypeFilter { diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java index afca17dae9..79dcccefb0 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java @@ -2,28 +2,28 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; import edu.wpi.first.wpiutil.WPIUtilJNI; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N3; import java.util.function.BiConsumer; /** * This class wraps an {@link UnscentedKalmanFilter Unscented Kalman Filter} to fuse * latency-compensated vision measurements with mecanum drive encoder velocity measurements. It will * correct for noisy measurements and encoder drift. It is intended to be an easy but more accurate - * drop-in for {@link edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry}. + * drop-in for {@link edu.wpi.first.math.kinematics.MecanumDriveOdometry}. * *

{@link MecanumDrivePoseEstimator#update} should be called every robot loop. If your loops are * faster or slower than the default of 0.02s, then you should change the nominal delta time using diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java index 95fcb71681..daaadb457c 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPoints.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; import org.ejml.simple.SimpleMatrix; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java index 958e8357e7..40afdadb5d 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java @@ -2,28 +2,28 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; import edu.wpi.first.wpiutil.WPIUtilJNI; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N3; import java.util.function.BiConsumer; /** * This class wraps an {@link UnscentedKalmanFilter Unscented Kalman Filter} to fuse * latency-compensated vision measurements with swerve drive encoder velocity measurements. It will * correct for noisy measurements and encoder drift. It is intended to be an easy but more accurate - * drop-in for {@link edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry}. + * drop-in for {@link edu.wpi.first.math.kinematics.SwerveDriveOdometry}. * *

{@link SwerveDrivePoseEstimator#update} should be called every robot loop. If your loops are * faster or slower than the default of 0.02s, then you should change the nominal delta time using diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java index 146fbbe64e..c242e05ee6 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.NumericalJacobian; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.Pair; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.NumericalJacobian; import java.util.function.BiFunction; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java index 1f782d5281..ffb9178cc3 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj; +package edu.wpi.first.math.filter; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java rename to wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java index 7c285834a9..b9c4198191 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/MedianFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj; +package edu.wpi.first.math.filter; import edu.wpi.first.wpiutil.CircularBuffer; import java.util.ArrayList; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java rename to wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java index 8f5687607e..6033b898f1 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java rename to wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java index c4c83a811c..74ef228919 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java rename to wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java index 19dd4d6056..2eb69dab60 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import java.util.Objects; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java rename to wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java index 23723a7216..251c078671 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java rename to wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java index 2d2a56ebf0..c73d23629a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import java.util.Objects; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java index 5723ca3369..451c008006 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation2d; /** * Represents the speed of a robot chassis. Although this struct contains similar members compared diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java index 29d6f14925..7984e396c9 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java index fe0af3c285..01395735a6 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Twist2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; /** * Class for differential drive odometry. Odometry allows you to track the robot's position on the diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java index 82ab4eb600..b84eeba3ad 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; /** Represents the wheel speeds for a differential drive drivetrain. */ @SuppressWarnings("MemberName") diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java index d8208a3a85..1ea1c2db06 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation2d; import org.ejml.simple.SimpleMatrix; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java index 5696c96935..b504acc71d 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveMotorVoltages.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; /** Represents the motor voltages for a mecanum drive drivetrain. */ @SuppressWarnings("MemberName") diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java index b2dcc8649e..7bf9b5b7f0 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Twist2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; import edu.wpi.first.wpiutil.WPIUtilJNI; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java index b9f753ea25..7a159fe661 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import java.util.stream.DoubleStream; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java index fdaf2ec782..5acb6eebbf 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import java.util.Arrays; import java.util.Collections; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java index 0dd4a0098f..df5c0e115a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Twist2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; import edu.wpi.first.wpiutil.WPIUtilJNI; /** diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java rename to wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java index 2c800376d4..d005f18866 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation2d; /** Represents the state of one swerve module. */ @SuppressWarnings("MemberName") diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java b/wpimath/src/main/java/edu/wpi/first/math/math/Discretization.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java rename to wpimath/src/main/java/edu/wpi/first/math/math/Discretization.java index b32548730b..25c85eb372 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/Discretization.java +++ b/wpimath/src/main/java/edu/wpi/first/math/math/Discretization.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.math; +package edu.wpi.first.math.math; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.Pair; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Pair; import org.ejml.simple.SimpleMatrix; @SuppressWarnings({"ParameterName", "MethodTypeParameterName"}) diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/math/StateSpaceUtil.java similarity index 93% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java rename to wpimath/src/main/java/edu/wpi/first/math/math/StateSpaceUtil.java index 827927a598..3739482d9a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java +++ b/wpimath/src/main/java/edu/wpi/first/math/math/StateSpaceUtil.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.math; +package edu.wpi.first.math.math; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.WPIMathJNI; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpiutil.math.MathUtil; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N4; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N4; import java.util.Random; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java index 44b549723e..9bbeaf6032 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java b/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java similarity index 91% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java index 1a1ce62be3..8bad7b159b 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; -import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose2d; /** Represents a pair of a pose and a curvature. */ @SuppressWarnings("MemberName") diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java index d189a4fdf4..40170443f6 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java index 495d463781..5451eea46b 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java @@ -2,10 +2,10 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import java.util.Arrays; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java index af9ee84ee3..ed023cc181 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java @@ -2,10 +2,10 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; import java.util.Arrays; import java.util.List; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java rename to wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java index 23675bcb08..171f0c4486 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java +++ b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java @@ -26,7 +26,7 @@ * SOFTWARE. */ -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; import java.util.ArrayDeque; import java.util.ArrayList; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java rename to wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java index bd20199b85..395f2bb53a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystem.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.numbers.N1; @SuppressWarnings("ClassTypeParameterName") public class LinearSystem { diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java rename to wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java index a40a63f4e4..ea67468cbb 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/LinearSystemLoop.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; -import edu.wpi.first.wpilibj.controller.LinearPlantInversionFeedforward; -import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.controller.LinearPlantInversionFeedforward; +import edu.wpi.first.math.controller.LinearQuadraticRegulator; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; import java.util.function.Function; import org.ejml.MatrixDimensionException; import org.ejml.simple.SimpleMatrix; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalIntegration.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java similarity index 97% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalIntegration.java rename to wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java index 5b52ee47fb..608c2f6e22 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalIntegration.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.Pair; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N5; -import edu.wpi.first.wpiutil.math.numbers.N6; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N5; +import edu.wpi.first.math.numbers.N6; import java.util.function.BiFunction; import java.util.function.DoubleFunction; import java.util.function.Function; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java rename to wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java index 97ef58ba09..6c2c896edb 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/NumericalJacobian.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.Num; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.numbers.N1; import java.util.function.BiFunction; import java.util.function.Function; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java rename to wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java index 49680b355a..7cd34ae87a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system.plant; +package edu.wpi.first.math.system.plant; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.util.Units; /** Holds the constants for a DC motor. */ public class DCMotor { diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java rename to wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java index 01a5bf4ec9..fc517f4928 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system.plant; +package edu.wpi.first.math.system.plant; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; public final class LinearSystemId { private LinearSystemId() { @@ -137,7 +137,7 @@ public final class LinearSystemId { * inputs are [voltage], and outputs are [velocity]. * *

The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the - * {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types. + * {@link edu.wpi.first.math.util.Units} class for converting between unit types. * * @param kV The velocity gain, in volts per (units per second) * @param kA The acceleration gain, in volts per (units per second squared) @@ -160,7 +160,7 @@ public final class LinearSystemId { * velocity]^T, inputs are [voltage], and outputs are [position]. * *

The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the - * {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types. + * {@link edu.wpi.first.math.util.Units} class for converting between unit types. * * @param kV The velocity gain, in volts per (units per second) * @param kA The acceleration gain, in volts per (units per second squared) diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java index 15b4119aa5..5c1f67663b 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import com.fasterxml.jackson.annotation.JsonProperty; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Transform2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Transform2d; import java.util.ArrayList; import java.util.List; import java.util.Objects; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java similarity index 90% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java index 9cf359a2e9..fbf734fd31 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.trajectory.constraint.MecanumDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.trajectory.constraint.SwerveDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; +import edu.wpi.first.math.trajectory.constraint.MecanumDriveKinematicsConstraint; +import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint; +import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; import java.util.ArrayList; import java.util.List; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java index b20b866676..e50c0020f6 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import edu.wpi.first.math.MathSharedStore; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Transform2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.spline.PoseWithCurvature; -import edu.wpi.first.wpilibj.spline.Spline; -import edu.wpi.first.wpilibj.spline.SplineHelper; -import edu.wpi.first.wpilibj.spline.SplineParameterizer; -import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.spline.PoseWithCurvature; +import edu.wpi.first.math.spline.Spline; +import edu.wpi.first.math.spline.SplineHelper; +import edu.wpi.first.math.spline.SplineParameterizer; +import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException; import java.util.ArrayList; import java.util.Arrays; import java.util.Collection; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java index cfad464295..eb1a645ea4 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java @@ -26,10 +26,10 @@ * SOFTWARE. */ -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; -import edu.wpi.first.wpilibj.spline.PoseWithCurvature; -import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint; +import edu.wpi.first.math.spline.PoseWithCurvature; +import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; import java.util.ArrayList; import java.util.List; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java index b9b14fd826..953245aecc 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryUtil.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import edu.wpi.first.math.WPIMathJNI; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import java.io.IOException; import java.nio.file.Path; import java.util.ArrayList; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java similarity index 99% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java index f9ddb8a765..e0e464a215 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java similarity index 96% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java index 7b1ae798b3..13138e84ce 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose2d; /** * A constraint on the maximum absolute centripetal acceleration allowed when traversing a diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java similarity index 92% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java index 11c99ce07b..37d8d68bbe 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; /** * A class that enforces constraints on the differential drive kinematics. This can be used to diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java index afc7cd4e1f..0cfaf9631d 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveVoltageConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; import static edu.wpi.first.wpiutil.ErrorMessages.requireNonNullParam; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; /** * A class that enforces constraints on differential drive voltage expenditure based on the motor diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java similarity index 93% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java index 7ec8cee6ba..c3bd226c2f 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/EllipticalRegionConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; /** Enforces a particular constraint only within an elliptical region. */ public class EllipticalRegionConstraint implements TrajectoryConstraint { diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java similarity index 92% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java index c755aead34..d672295c6d 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MaxVelocityConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose2d; /** * Represents a constraint that enforces a max velocity. This can be composed with the {@link diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java similarity index 93% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java index 80f5c732ee..9cb980a9aa 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/MecanumDriveKinematicsConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; /** * A class that enforces constraints on the mecanum drive kinematics. This can be used to ensure diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java similarity index 94% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java index 0827d991da..b29df5e9ae 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/RectangularRegionConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java @@ -2,10 +2,10 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; /** Enforces a particular constraint only within a rectangular region. */ public class RectangularRegionConstraint implements TrajectoryConstraint { diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java similarity index 93% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java index af61a44c7e..d87e3252cb 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/SwerveDriveKinematicsConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java @@ -2,11 +2,11 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; /** * A class that enforces constraints on the swerve drive kinematics. This can be used to ensure that diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java similarity index 95% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java rename to wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java index 56275578d2..ed03a3185a 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java @@ -2,9 +2,9 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory.constraint; +package edu.wpi.first.math.trajectory.constraint; -import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose2d; /** * An interface for defining user-defined velocity and acceleration constraints while generating diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java b/wpimath/src/main/java/edu/wpi/first/math/util/Units.java similarity index 98% rename from wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java rename to wpimath/src/main/java/edu/wpi/first/math/util/Units.java index 28774efa36..204a95a570 100644 --- a/wpimath/src/main/java/edu/wpi/first/wpilibj/util/Units.java +++ b/wpimath/src/main/java/edu/wpi/first/math/util/Units.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.util; +package edu.wpi.first.math.util; /** Utility class that converts between commonly used units in FRC. */ public final class Units { diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java rename to wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java index 6808b45fbb..af48bad955 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MathUtilTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java b/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java rename to wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java index bfe382541d..45df8fe929 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java @@ -2,16 +2,16 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpiutil.math; +package edu.wpi.first.math; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N4; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N4; import org.ejml.data.SingularMatrixException; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java similarity index 86% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java rename to wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java index 7eeae12b45..350ef18c11 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; import org.junit.jupiter.api.Test; class ControlAffinePlantInversionFeedforwardTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java similarity index 75% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java rename to wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java index 8695bbce70..98b0e6c661 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearPlantInversionFeedforwardTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; import org.junit.jupiter.api.Test; class LinearPlantInversionFeedforwardTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java similarity index 89% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java rename to wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java index 8c81fc717e..5658709382 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearQuadraticRegulatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java @@ -2,16 +2,16 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; import org.junit.jupiter.api.Test; public class LinearQuadraticRegulatorTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java similarity index 89% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java rename to wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java index 8f9668f355..e0d8c14be6 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/controller/LinearSystemLoopTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java @@ -2,22 +2,22 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.estimator.KalmanFilter; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.LinearSystemLoop; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.estimator.KalmanFilter; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.LinearSystemLoop; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import java.util.ArrayList; import java.util.List; import java.util.Random; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java similarity index 86% rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java rename to wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java index 5800fdc0c1..58e7eb4c0b 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.controller; +package edu.wpi.first.math.controller; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Twist2d; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.MathUtil; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.ArrayList; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java similarity index 89% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java index 0503ac865d..9fcf5e31c4 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/AngleStatisticsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; import org.junit.jupiter.api.Test; public class AngleStatisticsTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java similarity index 85% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java index c800b65211..552ce788e4 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/DifferentialDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java @@ -2,21 +2,21 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.MatBuilder; -import edu.wpi.first.wpiutil.math.Nat; +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.List; import java.util.Random; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java similarity index 91% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java index 79810c8bff..f389c2fe5b 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java @@ -2,26 +2,26 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.NumericalJacobian; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N5; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.NumericalJacobian; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.ArrayList; import java.util.Arrays; import java.util.List; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java similarity index 91% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java index f497150455..7415e513bc 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/KalmanFilterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java @@ -2,25 +2,25 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.system.LinearSystem; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N3; -import edu.wpi.first.wpiutil.math.numbers.N6; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N6; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.ArrayList; import java.util.List; import java.util.Random; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java similarity index 88% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java index c59844dace..82845d7be0 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MecanumDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.MecanumDriveKinematics; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.List; import java.util.Random; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java similarity index 88% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java index 4462b7dc01..b6e32fc56b 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/MerweScaledSigmaPointsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; import org.junit.jupiter.api.Test; public class MerweScaledSigmaPointsTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java similarity index 88% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java index 8ed50c4e5c..52752bc849 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/SwerveDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.List; import java.util.Random; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java rename to wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java index 2a68283960..96b137aef6 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java @@ -2,29 +2,29 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.estimator; +package edu.wpi.first.math.estimator; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.math.Discretization; -import edu.wpi.first.wpilibj.math.StateSpaceUtil; -import edu.wpi.first.wpilibj.system.NumericalIntegration; -import edu.wpi.first.wpilibj.system.NumericalJacobian; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; -import edu.wpi.first.wpiutil.math.numbers.N4; -import edu.wpi.first.wpiutil.math.numbers.N6; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.math.Discretization; +import edu.wpi.first.math.math.StateSpaceUtil; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.numbers.N4; +import edu.wpi.first.math.numbers.N6; +import edu.wpi.first.math.system.NumericalIntegration; +import edu.wpi.first.math.system.NumericalJacobian; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import java.util.ArrayList; import java.util.Arrays; import java.util.List; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java similarity index 99% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java rename to wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java index 9405bf1ffc..41be6f62c4 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj; +package edu.wpi.first.math.filter; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java similarity index 97% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java rename to wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java index ff2b77ef5b..06b3d019f0 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/MedianFilterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj; +package edu.wpi.first.math.filter; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java rename to wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java index effdb2abb8..b6e66af400 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java rename to wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java index 468d2a2042..cb3f0f3dfd 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java similarity index 96% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java rename to wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java index 40dd7a36a4..1a2f8e795d 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Transform2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java rename to wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java index d2f58ea68c..2d8eeaabe7 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Translation2dTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java rename to wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java index 45d8e2c420..c13bb09709 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.geometry; +package edu.wpi.first.math.geometry; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java similarity index 90% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java index 45311bf4c2..b9c3785caa 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation2d; import org.junit.jupiter.api.Test; class ChassisSpeedsTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java index e2c5b1d2be..adee41fabc 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometryTest.java similarity index 87% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometryTest.java index 136b45528a..f85e8fbf2b 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometryTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import org.junit.jupiter.api.Test; class DifferentialDriveOdometryTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java index 0cf9aa1934..4b9f5a3465 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation2d; import org.junit.jupiter.api.Test; class MecanumDriveKinematicsTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java index 5d26d0def7..2c6ed65e14 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import org.junit.jupiter.api.Test; class MecanumDriveOdometryTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java similarity index 98% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java index dc40fe3106..fb81b6da44 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import org.junit.jupiter.api.Test; class SwerveDriveKinematicsTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java index 64e1aa587b..cb6dfdfdb0 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import org.junit.jupiter.api.Test; class SwerveDriveOdometryTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleStateTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java similarity index 95% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleStateTest.java rename to wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java index 49ca2f642e..01815be00d 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleStateTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.kinematics; +package edu.wpi.first.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation2d; import org.junit.jupiter.api.Test; class SwerveModuleStateTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/math/StateSpaceUtilTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java rename to wpimath/src/test/java/edu/wpi/first/math/math/StateSpaceUtilTest.java index af810af69f..3c0dd01fb2 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/math/StateSpaceUtilTest.java @@ -2,20 +2,20 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.math; +package edu.wpi.first.math.math; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.SimpleMatrixUtils; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; -import edu.wpi.first.wpiutil.math.numbers.N2; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.SimpleMatrixUtils; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; import java.util.ArrayList; import java.util.List; import org.ejml.dense.row.MatrixFeatures_DDRM; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java similarity index 95% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java rename to wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java index 8d4d101bf9..b92bb6a319 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException; import java.util.ArrayList; import java.util.Arrays; import java.util.List; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java similarity index 94% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java rename to wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java index f00ab9a1cf..d5fd071a23 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java @@ -2,16 +2,16 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.spline; +package edu.wpi.first.math.spline; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java b/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java similarity index 91% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java rename to wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java index 8015a2f6a3..353d066b20 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/LinearSystemIDTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java @@ -2,16 +2,16 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.system.plant.DCMotor; -import edu.wpi.first.wpilibj.system.plant.LinearSystemId; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; import org.junit.jupiter.api.Test; class LinearSystemIDTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/NumericalIntegrationTest.java b/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java similarity index 87% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/system/NumericalIntegrationTest.java rename to wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java index 1f67e26cab..3dc9b49619 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/system/NumericalIntegrationTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.system; +package edu.wpi.first.math.system; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpiutil.math.Matrix; -import edu.wpi.first.wpiutil.math.Nat; -import edu.wpi.first.wpiutil.math.VecBuilder; -import edu.wpi.first.wpiutil.math.numbers.N1; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.numbers.N1; import org.junit.jupiter.api.Test; public class NumericalIntegrationTest { diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java similarity index 87% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java index 3aab65c5f9..1805589c9e 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java @@ -2,12 +2,12 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.trajectory.constraint.CentripetalAccelerationConstraint; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.trajectory.constraint.CentripetalAccelerationConstraint; +import edu.wpi.first.math.util.Units; import java.util.Collections; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java similarity index 84% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java index b206d42ced..7614a83e12 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java @@ -2,15 +2,15 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; +import edu.wpi.first.math.util.Units; import java.util.Collections; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java similarity index 88% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java index 6ad7bad819..34e0a594f7 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveVoltageConstraintTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java @@ -2,19 +2,19 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint; import java.util.ArrayList; import java.util.Collections; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java similarity index 87% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java index 948b270757..f9e3c1821f 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/EllipticalRegionConstraintTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.constraint.EllipticalRegionConstraint; -import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.constraint.EllipticalRegionConstraint; +import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint; +import edu.wpi.first.math.util.Units; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java similarity index 84% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java index 7ad58c4e62..1ab826edea 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/RectangularRegionConstraintTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java @@ -2,17 +2,17 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.constraint.MaxVelocityConstraint; -import edu.wpi.first.wpilibj.trajectory.constraint.RectangularRegionConstraint; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint; +import edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint; +import edu.wpi.first.math.util.Units; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConcatenateTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java similarity index 91% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConcatenateTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java index d8ff29f400..2e80d7b2ef 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConcatenateTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java similarity index 87% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java index fd580b3eb9..97c1858bd1 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java @@ -2,18 +2,18 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; -import static edu.wpi.first.wpilibj.util.Units.feetToMeters; +import static edu.wpi.first.math.util.Units.feetToMeters; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Transform2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; import java.util.ArrayList; import java.util.Arrays; import java.util.List; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java similarity index 81% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java index 9dfb0ca6a1..bb7260110d 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryJsonTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java @@ -2,13 +2,13 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java similarity index 89% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java index ad691d26fe..6268768d84 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryTransformTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertEquals; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Transform2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; import java.util.List; import org.junit.jupiter.api.Test; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java similarity index 99% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java rename to wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java index ca6f8b8fbf..de01bf791f 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.trajectory; +package edu.wpi.first.math.trajectory; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java b/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java similarity index 97% rename from wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java rename to wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java index 788aa1015a..89484039a2 100644 --- a/wpimath/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package edu.wpi.first.wpilibj.util; +package edu.wpi.first.math.util; import static org.junit.jupiter.api.Assertions.assertEquals;