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This commit is contained in:
PJ Reiniger
2025-11-07 19:55:43 -05:00
committed by Peter Johnson
parent 12823a003d
commit f0a3c64121
1590 changed files with 8469 additions and 8469 deletions
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8
wpilibj/src/main/java/org/wpilib/ExpansionHub.java
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@@ -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;
package org.wpilib;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.BooleanSubscriber;
import org.wpilib.networktables.NetworkTableInstance;
/** This class controls a REV ExpansionHub plugged in over USB to Systemcore. */
public class ExpansionHub implements AutoCloseable {

26
wpilibj/src/main/java/org/wpilib/ExpansionHubMotor.java
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@@ -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;
package org.wpilib;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.units.Units.Amps;
import static org.wpilib.units.Units.Volts;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Voltage;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.DoublePublisher;
import org.wpilib.networktables.DoubleSubscriber;
import org.wpilib.networktables.IntegerPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.PubSubOption;
import org.wpilib.units.measure.Current;
import org.wpilib.units.measure.Voltage;
/** This class controls a specific motor and encoder hooked up to an ExpansionHub. */
public class ExpansionHubMotor implements AutoCloseable {

10
wpilibj/src/main/java/org/wpilib/ExpansionHubPidConstants.java
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@@ -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;
package org.wpilib;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.DoublePublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.PubSubOption;
/** This class contains PID constants for an ExpansionHub motor. */
public class ExpansionHubPidConstants {

20
wpilibj/src/main/java/org/wpilib/ExpansionHubServo.java
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@@ -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;
package org.wpilib;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.Microseconds;
import static org.wpilib.units.Units.Degrees;
import static org.wpilib.units.Units.Microseconds;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Time;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.IntegerPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.PubSubOption;
import org.wpilib.units.measure.Angle;
import org.wpilib.units.measure.Time;
/** This class controls a specific servo hooked up to an ExpansionHub. */
public class ExpansionHubServo implements AutoCloseable {

2
wpilibj/src/main/java/org/wpilib/counter/EdgeConfiguration.java
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@@ -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.counter;
package org.wpilib.counter;
/** Edge configuration. */
public enum EdgeConfiguration {

12
wpilibj/src/main/java/org/wpilib/counter/Tachometer.java
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@@ -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.counter;
package org.wpilib.counter;
import edu.wpi.first.hal.CounterJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.CounterJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Tachometer.

12
wpilibj/src/main/java/org/wpilib/counter/UpDownCounter.java
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@@ -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.counter;
package org.wpilib.counter;
import edu.wpi.first.hal.CounterJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.CounterJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Up Down Counter.

26
wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
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@@ -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.drive;
package org.wpilib.drive;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorController;
import java.util.function.DoubleConsumer;
/**
@@ -21,7 +21,7 @@ import java.util.function.DoubleConsumer;
* <p>These drive bases typically have drop-center / skid-steer with two or more wheels per side
* (e.g., 6WD or 8WD). This class takes a setter per side. For four and six motor drivetrains, use
* CAN motor controller followers or {@link
* edu.wpi.first.wpilibj.motorcontrol.PWMMotorController#addFollower(PWMMotorController)}.
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}.
*
* <p>A differential drive robot has left and right wheels separated by an arbitrary width.
*
@@ -43,11 +43,11 @@ import java.util.function.DoubleConsumer;
* positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation
* around the Z axis is positive.
*
* <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} will
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
*
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The tankDrive, arcadeDrive,
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive, arcadeDrive,
* or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts.
*/
public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
@@ -94,7 +94,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* edu.wpi.first.wpilibj.motorcontrol.PWMMotorController#addFollower(PWMMotorController)}. If a
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
*
* @param leftMotor Left motor.
@@ -111,7 +111,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* edu.wpi.first.wpilibj.motorcontrol.PWMMotorController#addFollower(PWMMotorController)}. If a
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
*
* @param leftMotor Left motor setter.

24
wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
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@@ -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.drive;
package org.wpilib.drive;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.util.MathUtil;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorController;
import java.util.function.DoubleConsumer;
/**
@@ -42,11 +42,11 @@ import java.util.function.DoubleConsumer;
* positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation
* around the Z axis is positive.
*
* <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} will
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
*
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The driveCartesian or
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The driveCartesian or
* drivePolar methods should be called periodically to avoid Motor Safety timeouts.
*/
public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {

8
wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
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@@ -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.drive;
package org.wpilib.drive;
import edu.wpi.first.wpilibj.MotorSafety;
import org.wpilib.hardware.motor.MotorSafety;
/**
* Common base class for drive platforms.
*
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default.
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default.
*/
public abstract class RobotDriveBase extends MotorSafety {
/** Default input deadband. */
@@ -60,7 +60,7 @@ public abstract class RobotDriveBase extends MotorSafety {
*
* <p>The default value is {@value #kDefaultDeadband}. Inputs smaller than the deadband are set to
* 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See {@link
* edu.wpi.first.math.MathUtil#applyDeadband}.
* org.wpilib.math.util.MathUtil#applyDeadband}.
*
* @param deadband The deadband to set.
*/

4
wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java
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@@ -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;
package org.wpilib.driverstation;
import edu.wpi.first.hal.ControlWord;
import org.wpilib.hardware.hal.ControlWord;
/** A wrapper around Driver Station control word. */
public class DSControlWord {

38
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
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@@ -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;
package org.wpilib.driverstation;
import edu.wpi.first.datalog.BooleanArrayLogEntry;
import edu.wpi.first.datalog.BooleanLogEntry;
import edu.wpi.first.datalog.DataLog;
import edu.wpi.first.datalog.FloatArrayLogEntry;
import edu.wpi.first.datalog.IntegerArrayLogEntry;
import edu.wpi.first.hal.AllianceStationID;
import edu.wpi.first.hal.ControlWord;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.MatchInfoData;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.networktables.StringTopic;
import edu.wpi.first.util.EventVector;
import edu.wpi.first.util.WPIUtilJNI;
import org.wpilib.datalog.BooleanArrayLogEntry;
import org.wpilib.datalog.BooleanLogEntry;
import org.wpilib.datalog.DataLog;
import org.wpilib.datalog.FloatArrayLogEntry;
import org.wpilib.datalog.IntegerArrayLogEntry;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.MatchInfoData;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.networktables.BooleanPublisher;
import org.wpilib.networktables.IntegerPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.networktables.StringTopic;
import org.wpilib.util.concurrent.EventVector;
import org.wpilib.util.WPIUtilJNI;
import java.util.Map;
import java.util.Optional;
import java.util.OptionalDouble;

12
wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
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@@ -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;
package org.wpilib.driverstation;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
/**
* Handle input from Gamepad controllers connected to the Driver Station.

12
wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
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@@ -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;
package org.wpilib.driverstation;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.math.Pair;
import edu.wpi.first.wpilibj.DriverStation.POVDirection;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.math.util.Pair;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import java.util.HashMap;
import java.util.Map;

8
wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java
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@@ -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;
package org.wpilib.driverstation;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
/**
* Handle input from Flight Joysticks connected to the Driver Station.

10
wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java
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@@ -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.event;
package org.wpilib.event;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.units.measure.Time;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.units.measure.Time;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.BiFunction;
import java.util.function.BooleanSupplier;

2
wpilibj/src/main/java/org/wpilib/event/EventLoop.java
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@@ -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.event;
package org.wpilib.event;
import java.util.Collection;
import java.util.ConcurrentModificationException;

12
wpilibj/src/main/java/org/wpilib/event/NetworkBooleanEvent.java
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@@ -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.event;
package org.wpilib.event;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.BooleanTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.wpilib.networktables.BooleanSubscriber;
import org.wpilib.networktables.BooleanTopic;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.networktables.NetworkTableInstance;
/** This class provides an easy way to link NetworkTables boolean topics to callback actions. */
public class NetworkBooleanEvent extends BooleanEvent {

20
wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java
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@@ -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;
package org.wpilib.hardware.accelerometer;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.DoubleTopic;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.hal.SimEnum;
import org.wpilib.networktables.DoublePublisher;
import org.wpilib.networktables.DoubleTopic;
import org.wpilib.networktables.NTSendable;
import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;

12
wpilibj/src/main/java/org/wpilib/hardware/accelerometer/AnalogAccelerometer.java
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@@ -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;
package org.wpilib.hardware.accelerometer;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Handle operation of an analog accelerometer. The accelerometer reads acceleration directly

10
wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java
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@@ -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;
package org.wpilib.hardware.bus;
import edu.wpi.first.hal.CANAPIJNI;
import edu.wpi.first.hal.CANAPITypes;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.can.CANReceiveMessage;
import org.wpilib.hardware.hal.CANAPIJNI;
import org.wpilib.hardware.hal.CANAPITypes;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.can.CANReceiveMessage;
import java.io.Closeable;
/**

10
wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java
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@@ -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;
package org.wpilib.hardware.bus;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.I2CJNI;
import edu.wpi.first.hal.util.BoundaryException;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.I2CJNI;
import org.wpilib.hardware.hal.util.BoundaryException;
import java.nio.ByteBuffer;
/**

6
wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java
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@@ -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;
package org.wpilib.hardware.bus;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SerialPortJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SerialPortJNI;
import java.nio.charset.StandardCharsets;
/** Driver for the serial ports (USB, MXP, Onboard) on the roboRIO. */

14
wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java
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@@ -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;
package org.wpilib.hardware.discrete;
import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.AnalogJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Analog channel class.

2
wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java
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@@ -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 org.wpilib.hardware.discrete;
/**
* Interface for counting the number of ticks on a digital input channel. Encoders, Gear tooth

14
wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java
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@@ -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;
package org.wpilib.hardware.discrete;
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.DIOJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class to read a digital input. This class will read digital inputs and return the current value

14
wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java
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@@ -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;
package org.wpilib.hardware.discrete;
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.DIOJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class to write digital outputs. This class will write digital outputs. Other devices that are

14
wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java
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@@ -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;
package org.wpilib.hardware.discrete;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PWMJNI;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PWMJNI;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class implements the PWM generation in the FPGA.

10
wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
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// 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 org.wpilib.hardware.imu;
import edu.wpi.first.hal.IMUJNI;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import org.wpilib.hardware.hal.IMUJNI;
import org.wpilib.math.geometry.Quaternion;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Rotation3d;
/** SystemCore onboard IMU. */
public class OnboardIMU {

6
wpilibj/src/main/java/org/wpilib/hardware/led/AddressableLED.java
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@@ -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;
package org.wpilib.hardware.led;
import edu.wpi.first.hal.AddressableLEDJNI;
import edu.wpi.first.hal.HAL;
import org.wpilib.hardware.hal.AddressableLEDJNI;
import org.wpilib.hardware.hal.HAL;
/**
* A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.

2
wpilibj/src/main/java/org/wpilib/hardware/led/AddressableLEDBuffer.java
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@@ -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 org.wpilib.hardware.led;
/** Buffer storage for Addressable LEDs. */
public class AddressableLEDBuffer implements LEDReader, LEDWriter {

8
wpilibj/src/main/java/org/wpilib/hardware/led/AddressableLEDBufferView.java
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@@ -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;
package org.wpilib.hardware.led;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import org.wpilib.util.Color;
import org.wpilib.util.Color8Bit;
/**
* A view of another addressable LED buffer. Views CANNOT be written directly to an LED strip; the

26
wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java
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@@ -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;
package org.wpilib.hardware.led;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.Microsecond;
import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Value;
import static org.wpilib.units.Units.Meters;
import static org.wpilib.units.Units.Microsecond;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Value;
import edu.wpi.first.units.collections.LongToObjectHashMap;
import edu.wpi.first.units.measure.Dimensionless;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Frequency;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.util.Color;
import org.wpilib.units.collections.LongToObjectHashMap;
import org.wpilib.units.measure.Dimensionless;
import org.wpilib.units.measure.Distance;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.LinearVelocity;
import org.wpilib.units.measure.Time;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.util.Color;
import java.util.Map;
import java.util.Objects;
import java.util.function.BooleanSupplier;

6
wpilibj/src/main/java/org/wpilib/hardware/led/LEDReader.java
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@@ -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;
package org.wpilib.hardware.led;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import org.wpilib.util.Color;
import org.wpilib.util.Color8Bit;
/** Generic interface for reading data from an LED buffer. */
public interface LEDReader {

6
wpilibj/src/main/java/org/wpilib/hardware/led/LEDWriter.java
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@@ -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;
package org.wpilib.hardware.led;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import org.wpilib.util.Color;
import org.wpilib.util.Color8Bit;
/** Generic interface for writing data to an LED buffer. */
@FunctionalInterface

8
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java
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@@ -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.motorcontrol;
package org.wpilib.hardware.motor;
import static edu.wpi.first.units.Units.Volts;
import static org.wpilib.units.Units.Volts;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotController;
import org.wpilib.units.measure.Voltage;
import org.wpilib.system.RobotController;
/** Interface for motor controlling devices. */
public interface MotorController {

8
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java
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@@ -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.motorcontrol;
package org.wpilib.hardware.motor;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.Arrays;
/**

8
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java
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@@ -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;
package org.wpilib.hardware.motor;
import edu.wpi.first.hal.ControlWord;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.util.WPIUtilJNI;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.util.WPIUtilJNI;
import java.util.LinkedHashSet;
import java.util.Set;

20
wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
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@@ -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.motorcontrol;
package org.wpilib.hardware.motor;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.MotorSafety;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.RobotController;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDevice.Direction;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorSafety;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.system.RobotController;
import java.util.ArrayList;
/** Common base class for all PWM Motor Controllers. */

10
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class for operating a compressor connected to a pneumatics module. The module will automatically

4
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/CompressorConfigType.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.REVPHJNI;
import org.wpilib.hardware.hal.REVPHJNI;
/** Compressor config type. */
public enum CompressorConfigType {

10
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/DoubleSolenoid.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output on the pneumatics

14
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PortsJNI;
import edu.wpi.first.hal.REVPHFaults;
import edu.wpi.first.hal.REVPHJNI;
import edu.wpi.first.hal.REVPHStickyFaults;
import edu.wpi.first.hal.REVPHVersion;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PortsJNI;
import org.wpilib.hardware.hal.REVPHFaults;
import org.wpilib.hardware.hal.REVPHJNI;
import org.wpilib.hardware.hal.REVPHStickyFaults;
import org.wpilib.hardware.hal.REVPHVersion;
import java.util.HashMap;
import java.util.Map;

2
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java
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@@ -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 org.wpilib.hardware.pneumatic;
/** Interface for pneumatics devices. */
public interface PneumaticsBase extends AutoCloseable {

8
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.CTREPCMJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PortsJNI;
import org.wpilib.hardware.hal.CTREPCMJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PortsJNI;
import java.util.HashMap;
import java.util.Map;

2
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java
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@@ -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 org.wpilib.hardware.pneumatic;
/** Pneumatics module type. */
public enum PneumaticsModuleType {

10
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Solenoid.java
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@@ -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;
package org.wpilib.hardware.pneumatic;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Solenoid class for running high voltage Digital Output on a pneumatics module.

18
wpilibj/src/main/java/org/wpilib/hardware/power/PowerDistribution.java
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@@ -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;
package org.wpilib.hardware.power;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PowerDistributionFaults;
import edu.wpi.first.hal.PowerDistributionJNI;
import edu.wpi.first.hal.PowerDistributionStickyFaults;
import edu.wpi.first.hal.PowerDistributionVersion;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PowerDistributionFaults;
import org.wpilib.hardware.hal.PowerDistributionJNI;
import org.wpilib.hardware.hal.PowerDistributionStickyFaults;
import org.wpilib.hardware.hal.PowerDistributionVersion;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class for getting voltage, current, temperature, power and energy from the CTRE Power

16
wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java
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@@ -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;
package org.wpilib.hardware.range;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDevice.Direction;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* SharpIR analog distance sensor class. These distance measuring sensors output an analog voltage

18
wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java
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@@ -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;
package org.wpilib.hardware.rotation;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDevice.Direction;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/** Class for supporting continuous analog encoders, such as the US Digital MA3. */
public class AnalogEncoder implements Sendable, AutoCloseable {

8
wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogPotentiometer.java
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@@ -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;
package org.wpilib.hardware.rotation;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class for reading analog potentiometers. Analog potentiometers read in an analog voltage that

12
wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java
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@@ -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;
package org.wpilib.hardware.rotation;
import edu.wpi.first.hal.DutyCycleJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.DutyCycleJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class to read a duty cycle PWM input.

16
wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java
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@@ -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;
package org.wpilib.hardware.rotation;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.SimBoolean;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the

16
wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java
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@@ -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;
package org.wpilib.hardware.rotation;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.EncoderJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.hardware.hal.EncoderJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Class to read quadrature encoders.

8
wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java
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@@ -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.internal;
package org.wpilib.internal;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.DriverStation;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.driverstation.DriverStation;
import java.util.concurrent.atomic.AtomicBoolean;
/** For internal use only. */

10
wpilibj/src/main/java/org/wpilib/opmode/IterativeRobotBase.java
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@@ -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;
package org.wpilib.opmode;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.smartdashboard.SmartDashboard;
/**
* IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase

24
wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java
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@@ -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;
package org.wpilib.opmode;
import edu.wpi.first.cameraserver.CameraServerShared;
import edu.wpi.first.cameraserver.CameraServerSharedStore;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.math.MathShared;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTableEvent;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import org.wpilib.vision.stream.CameraServerShared;
import org.wpilib.vision.stream.CameraServerSharedStore;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.math.util.MathShared;
import org.wpilib.math.util.MathSharedStore;
import org.wpilib.networktables.MultiSubscriber;
import org.wpilib.networktables.NetworkTableEvent;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.util.WPILibVersion;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;

2
wpilibj/src/main/java/org/wpilib/opmode/RobotState.java
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@@ -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 org.wpilib.opmode;
/** Robot state utility functions. */
public final class RobotState {

14
wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java
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@@ -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;
package org.wpilib.opmode;
import static edu.wpi.first.units.Units.Seconds;
import static org.wpilib.units.Units.Seconds;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.NotifierJNI;
import edu.wpi.first.units.measure.Frequency;
import edu.wpi.first.units.measure.Time;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.Time;
import java.util.PriorityQueue;
/**

2
wpilibj/src/main/java/org/wpilib/opmode/TimesliceRobot.java
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@@ -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 org.wpilib.opmode;
/**
* TimesliceRobot extends the TimedRobot robot program framework to provide timeslice scheduling of

6
wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.ADXL345_I2C;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import java.util.Objects;
/** Class to control a simulated ADXL345. */

10
wpilibj/src/main/java/org/wpilib/simulation/AddressableLEDSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.AddressableLEDDataJNI;
import edu.wpi.first.hal.simulation.ConstBufferCallback;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AddressableLED;
import org.wpilib.hardware.hal.simulation.AddressableLEDDataJNI;
import org.wpilib.hardware.hal.simulation.ConstBufferCallback;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.led.AddressableLED;
/** Class to control a simulated addressable LED. */
public class AddressableLEDSim {

6
wpilibj/src/main/java/org/wpilib/simulation/AnalogEncoderSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.AnalogEncoder;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.rotation.AnalogEncoder;
/** Class to control a simulated analog encoder. */
public class AnalogEncoderSim {

8
wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.AnalogInDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogInput;
import org.wpilib.hardware.hal.simulation.AnalogInDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.AnalogInput;
/** Class to control a simulated analog input. */
public class AnalogInputSim {

6
wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java
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@@ -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.simulation;
package org.wpilib.simulation;
/** A utility class to simulate the robot battery. */
public final class BatterySim {
@@ -13,7 +13,7 @@ public final class BatterySim {
/**
* Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
* set the simulated battery voltage, which can then be retrieved with the {@link
* edu.wpi.first.wpilibj.RobotController#getBatteryVoltage()} method.
* org.wpilib.system.RobotController#getBatteryVoltage()} method.
*
* @param nominalVoltage The nominal battery voltage. Usually 12v.
* @param resistanceOhms The forward resistance of the battery. Most batteries are at or below 20
@@ -33,7 +33,7 @@ public final class BatterySim {
/**
* Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
* set the simulated battery voltage, which can then be retrieved with the {@link
* edu.wpi.first.wpilibj.RobotController#getBatteryVoltage()} method. This function assumes a
* org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a
* nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
*
* @param currents The currents drawn from the battery.

10
wpilibj/src/main/java/org/wpilib/simulation/CTREPCMSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.CTREPCMDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.PneumaticsControlModule;
import edu.wpi.first.wpilibj.SensorUtil;
import org.wpilib.hardware.hal.simulation.CTREPCMDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.pneumatic.PneumaticsControlModule;
import org.wpilib.system.SensorUtil;
/** Class to control a simulated Pneumatic Control Module (PCM). */
public class CTREPCMSim extends PneumaticsBaseSim {

2
wpilibj/src/main/java/org/wpilib/simulation/CallbackStore.java
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@@ -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.simulation;
package org.wpilib.simulation;
/** Manages simulation callbacks; each object is associated with a callback. */
public class CallbackStore implements AutoCloseable {

20
wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
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.wpilibj.RobotController;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.system.RobotController;
/** Represents a simulated DC motor mechanism. */
public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
@@ -26,10 +26,10 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated DC motor mechanism.
*
* @param plant The linear system representing the DC motor. This system can be created with
* {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
* double)} or {@link
* edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If
* {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}
* org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}
* is used, the distance unit must be radians.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no

10
wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.DIODataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DIODataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalInput;
import org.wpilib.hardware.discrete.DigitalOutput;
/** Class to control a simulated digital input or output. */
public class DIOSim {

38
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.StateSpaceUtil;
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.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 org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.numbers.N7;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.util.Units;
import org.wpilib.system.RobotController;
/**
* This class simulates the state of the drivetrain. In simulationPeriodic, users should first set
* inputs from motors with {@link #setInputs(double, double)}, call {@link #update(double)} to
* update the simulation, and set estimated encoder and gyro positions, as well as estimated
* odometry pose. Teams can use {@link edu.wpi.first.wpilibj.smartdashboard.Field2d} to visualize
* odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize
* their robot on the Sim GUI's field.
*
* <p>Our state-space system is:
@@ -90,9 +90,9 @@ public class DifferentialDrivetrainSim {
*
* @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be
* created with {@link
* edu.wpi.first.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
* double, double, double, double, double)} or {@link
* edu.wpi.first.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
* org.wpilib.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

8
wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.DigitalPWMDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DigitalPWMDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalOutput;
import java.util.NoSuchElementException;
/**

10
wpilibj/src/main/java/org/wpilib/simulation/DoubleSolenoidSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsBase;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
import org.wpilib.hardware.pneumatic.PneumaticsBase;
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
/** Class to control a simulated {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
/** Class to control a simulated {@link org.wpilib.hardware.pneumatic.DoubleSolenoid}. */
public class DoubleSolenoidSim {
private final PneumaticsBaseSim m_module;
private final int m_fwd;

14
wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.AllianceStationID;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.simulation.DriverStationDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.DriverStation;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.simulation.DriverStationDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.driverstation.DriverStation;
/** Class to control a simulated driver station. */
public final class DriverStationSim {

8
wpilibj/src/main/java/org/wpilib/simulation/DutyCycleEncoderSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import org.wpilib.hardware.hal.SimBoolean;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.rotation.DutyCycleEncoder;
/** Class to control a simulated duty cycle encoder. */
public class DutyCycleEncoderSim {

8
wpilibj/src/main/java/org/wpilib/simulation/DutyCycleSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.DutyCycleDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.DutyCycle;
import org.wpilib.hardware.hal.simulation.DutyCycleDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.rotation.DutyCycle;
/** Class to control a simulated duty cycle digital input. */
public class DutyCycleSim {

22
wpilibj/src/main/java/org/wpilib/simulation/ElevatorSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
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;
import edu.wpi.first.wpilibj.RobotController;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.system.RobotController;
/** Represents a simulated elevator mechanism. */
public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
@@ -32,7 +32,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated elevator mechanism.
*
* @param plant The linear system that represents the elevator. This system can be created with
* {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
* {@link org.wpilib.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
* double, double)}.
* @param gearbox The type of and number of motors in the elevator gearbox.
* @param minHeight The min allowable height of the elevator in meters.

8
wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.EncoderDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.Encoder;
import org.wpilib.hardware.hal.simulation.EncoderDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.rotation.Encoder;
import java.util.NoSuchElementException;
/** Class to control a simulated encoder. */

14
wpilibj/src/main/java/org/wpilib/simulation/FlywheelSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.math.VecBuilder;
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.wpilibj.RobotController;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.system.RobotController;
/** Represents a simulated flywheel mechanism. */
public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {

4
wpilibj/src/main/java/org/wpilib/simulation/GamepadSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.wpilibj.Gamepad;
import org.wpilib.driverstation.Gamepad;
/** Class to control a simulated Gamepad controller. */
public class GamepadSim extends GenericHIDSim {

6
wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.GenericHID;
/** Class to control a simulated generic joystick. */
public class GenericHIDSim {

10
wpilibj/src/main/java/org/wpilib/simulation/I2CSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.BufferCallback;
import edu.wpi.first.hal.simulation.ConstBufferCallback;
import edu.wpi.first.hal.simulation.I2CDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.BufferCallback;
import org.wpilib.hardware.hal.simulation.ConstBufferCallback;
import org.wpilib.hardware.hal.simulation.I2CDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
/** A class to control a simulated I2C device. */
public class I2CSim {

4
wpilibj/src/main/java/org/wpilib/simulation/JoystickSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.wpilibj.Joystick;
import org.wpilib.driverstation.Joystick;
/** Class to control a simulated joystick. */
public class JoystickSim extends GenericHIDSim {

14
wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.StateSpaceUtil;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.LinearSystem;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.ejml.MatrixDimensionException;
import org.ejml.simple.SimpleMatrix;
/**
* This class helps simulate linear systems. To use this class, do the following in the {@link
* edu.wpi.first.wpilibj.IterativeRobotBase#simulationPeriodic} method.
* org.wpilib.opmode.IterativeRobotBase#simulationPeriodic} method.
*
* <p>Call {@link #setInput(double...)} with the inputs to the system (usually voltage).
*

4
wpilibj/src/main/java/org/wpilib/simulation/NotifierSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifierDataJNI;
import org.wpilib.hardware.hal.simulation.NotifierDataJNI;
/** Class to control simulated notifiers. */
public final class NotifierSim {

8
wpilibj/src/main/java/org/wpilib/simulation/PDPSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.PowerDistributionDataJNI;
import edu.wpi.first.wpilibj.PowerDistribution;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.PowerDistributionDataJNI;
import org.wpilib.hardware.power.PowerDistribution;
/** Class to control a simulated Power Distribution Panel (PDP). */
public class PDPSim {

6
wpilibj/src/main/java/org/wpilib/simulation/PWMMotorControllerSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.motor.PWMMotorController;
/** Class to control a simulated PWM motor controller. */
public class PWMMotorControllerSim {

8
wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.PWMDataJNI;
import edu.wpi.first.wpilibj.PWM;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.PWMDataJNI;
import org.wpilib.hardware.discrete.PWM;
/** Class to control a simulated PWM output. */
public class PWMSim {

8
wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.PneumaticsBase;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.pneumatic.PneumaticsBase;
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
/** Common base class for pneumatics module simulation classes. */
public abstract class PneumaticsBaseSim {

10
wpilibj/src/main/java/org/wpilib/simulation/REVPHSim.java
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@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.REVPHDataJNI;
import edu.wpi.first.wpilibj.PneumaticHub;
import edu.wpi.first.wpilibj.SensorUtil;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.REVPHDataJNI;
import org.wpilib.hardware.pneumatic.PneumaticHub;
import org.wpilib.system.SensorUtil;
/** Class to control a simulated PneumaticHub (PH). */
public class REVPHSim extends PneumaticsBaseSim {

6
wpilibj/src/main/java/org/wpilib/simulation/RoboRioSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.hal.simulation.RoboRioDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.RoboRioDataJNI;
/** A utility class to control a simulated RoboRIO. */
public final class RoboRioSim {

8
wpilibj/src/main/java/org/wpilib/simulation/SendableChooserSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.wpilibj.RobotBase;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.opmode.RobotBase;
/** Class that facilitates control of a SendableChooser's selected option in simulation. */
public class SendableChooserSim implements AutoCloseable {

6
wpilibj/src/main/java/org/wpilib/simulation/SharpIRSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.SharpIR;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.range.SharpIR;
/** Simulation class for Sharp IR sensors. */
public class SharpIRSim {

24
wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.hal.SimInt;
import edu.wpi.first.hal.SimLong;
import edu.wpi.first.hal.SimValue;
import edu.wpi.first.hal.simulation.SimDeviceCallback;
import edu.wpi.first.hal.simulation.SimDeviceDataJNI;
import edu.wpi.first.hal.simulation.SimValueCallback;
import org.wpilib.hardware.hal.SimBoolean;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.hal.SimEnum;
import org.wpilib.hardware.hal.SimInt;
import org.wpilib.hardware.hal.SimLong;
import org.wpilib.hardware.hal.SimValue;
import org.wpilib.hardware.hal.simulation.SimDeviceCallback;
import org.wpilib.hardware.hal.simulation.SimDeviceDataJNI;
import org.wpilib.hardware.hal.simulation.SimValueCallback;
/** Class to control the simulation side of a SimDevice. */
public class SimDeviceSim {
@@ -235,7 +235,7 @@ public class SimDeviceSim {
}
/**
* Register a callback to be run every time a new {@link edu.wpi.first.hal.SimDevice} is created.
* Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is created.
*
* @param prefix the prefix to filter sim devices
* @param callback the callback
@@ -249,7 +249,7 @@ public class SimDeviceSim {
}
/**
* Register a callback to be run every time a {@link edu.wpi.first.hal.SimDevice} is
* Register a callback to be run every time a {@link org.wpilib.hardware.hal.SimDevice} is
* freed/destroyed.
*
* @param prefix the prefix to filter sim devices

4
wpilibj/src/main/java/org/wpilib/simulation/SimHooks.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.SimulatorJNI;
import org.wpilib.hardware.hal.simulation.SimulatorJNI;
/** Simulation hooks. */
public final class SimHooks {

22
wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
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;
import edu.wpi.first.wpilibj.RobotController;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.system.RobotController;
/** Represents a simulated single jointed arm mechanism. */
public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
@@ -38,7 +38,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated arm mechanism.
*
* @param plant The linear system that represents the arm. This system can be created with {@link
* edu.wpi.first.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
* double, double)}.
* @param gearbox The type of and number of motors in the arm gearbox.
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).

10
wpilibj/src/main/java/org/wpilib/simulation/SolenoidSim.java
View File

@@ -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.simulation;
package org.wpilib.simulation;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.PneumaticsBase;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.pneumatic.PneumaticsBase;
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
/** Class to control a simulated {@link edu.wpi.first.wpilibj.Solenoid}. */
/** Class to control a simulated {@link org.wpilib.hardware.pneumatic.Solenoid}. */
public class SolenoidSim {
private final PneumaticsBaseSim m_module;
private final int m_channel;

18
wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java
View File

@@ -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.smartdashboard;
package org.wpilib.smartdashboard;
import static edu.wpi.first.units.Units.Meters;
import static org.wpilib.units.Units.Meters;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.util.sendable.SendableRegistry;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.networktables.NTSendable;
import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.units.measure.Distance;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.ArrayList;
import java.util.List;

16
wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java
View File

@@ -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.smartdashboard;
package org.wpilib.smartdashboard;
import static edu.wpi.first.units.Units.Meters;
import static org.wpilib.units.Units.Meters;
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.DoubleArrayEntry;
import edu.wpi.first.units.measure.Distance;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.trajectory.Trajectory;
import org.wpilib.networktables.DoubleArrayEntry;
import org.wpilib.units.measure.Distance;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;

4
wpilibj/src/main/java/org/wpilib/smartdashboard/ListenerExecutor.java
View File

@@ -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.smartdashboard;
package org.wpilib.smartdashboard;
import java.util.ArrayList;
import java.util.Collection;
import java.util.concurrent.Executor;
/**
* An executor for running listener tasks posted by {@link edu.wpi.first.wpilibj.Sendable} listeners
* An executor for running listener tasks posted by {@link org.wpilib.Sendable} listeners
* synchronously from the main application thread.
*/
class ListenerExecutor implements Executor {

14
wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java
View File

@@ -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.smartdashboard;
package org.wpilib.smartdashboard;
import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.wpilibj.util.Color8Bit;
import org.wpilib.networktables.DoubleArrayPublisher;
import org.wpilib.networktables.NTSendable;
import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.util.Color8Bit;
import java.util.HashMap;
import java.util.Map;
import java.util.Map.Entry;

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