team5419 · nicholasunderwood · Aug 10, 2020 · Aug 10, 2020
diff --git a/.gitignore b/.gitignore
@@ -11,3 +11,4 @@ bin/
 build/
 out/
 virtualenv_run/
+tox.ini
diff --git a/build.gradle b/build.gradle
@@ -41,7 +41,7 @@ dependencies {
 }
 
 group = 'org.team5419'
-version = '4.0.7'
+version = '5.0.0'
 
 
 task sourcesJar(type: Jar) {
@@ -112,14 +112,14 @@ task install_hooks(dependsOn: 'tox')
 publishing {
     publications {
         library(MavenPublication) {
-            artifactId = 'fault'
+            artifactId = 'berkeleyLib'
             from components.java
             artifact sourcesJar
             artifact javadocJar
             pom {
-                name = 'Fault'
+                name = 'BerkeleyLib'
                 description = 'Commonly used utilities in FRC Team 5419\'s codebase'
-                url = 'https://github.com/team5419/fault'
+                url = 'https://github.com/team5419/BerkeleyLib'
             }
         }
     }

diff --git a/...tlin/org/team5419/fault/BerkeliumRobot.kt → ...otlin/org/team5419/fault/BerkeleyRobot.kt b/...tlin/org/team5419/fault/BerkeliumRobot.kt → ...otlin/org/team5419/fault/BerkeleyRobot.kt
@@ -1,16 +1,16 @@
-package org.team5419.fault
+package org.team5419.berkeleyLib
 
 import edu.wpi.first.hal.FRCNetComm
 import edu.wpi.first.hal.HAL
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.TimedRobot
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.Second
-import org.team5419.fault.subsystems.Subsystem
-import org.team5419.fault.subsystems.SubsystemManager
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.Second
+import org.team5419.berkeleyLib.subsystems.Subsystem
+import org.team5419.berkeleyLib.subsystems.SubsystemManager
 
 @Suppress("TooManyFunctions")
-abstract class BerkeliumRobot(period: SIUnit<Second> = SIUnit<Second>(0.05)) {
+abstract class BerkeleyRobot(period: SIUnit<Second> = SIUnit<Second>(0.05)) {
 
     protected val wrappedValue = WpiTimedRobot(period.value)
 
@@ -23,48 +23,48 @@ abstract class BerkeliumRobot(period: SIUnit<Second> = SIUnit<Second>(0.05)) {
         }
 
         override fun robotInit() {
-            this@BerkeliumRobot.robotInit()
+            this@BerkeleyRobot.robotInit()
             SubsystemManager.init()
         }
 
         override fun autonomousInit() {
             SubsystemManager.autoReset()
-            this@BerkeliumRobot.autonomousInit()
+            this@BerkeleyRobot.autonomousInit()
         }
 
         override fun teleopInit() {
             SubsystemManager.teleopReset()
-            this@BerkeliumRobot.teleopInit()
+            this@BerkeleyRobot.teleopInit()
         }
 
         override fun disabledInit() {
             SubsystemManager.zeroOutputs()
-            this@BerkeliumRobot.disabledInit()
+            this@BerkeleyRobot.disabledInit()
         }
 
         override fun testInit() {
-            this@BerkeliumRobot.testInit()
+            this@BerkeleyRobot.testInit()
         }
 
         override fun robotPeriodic() {
-            this@BerkeliumRobot.robotPeriodic()
+            this@BerkeleyRobot.robotPeriodic()
             if (!isDisabled) SubsystemManager.periodic()
         }
 
         override fun autonomousPeriodic() {
-            this@BerkeliumRobot.autonomousPeriodic()
+            this@BerkeleyRobot.autonomousPeriodic()
         }
 
         override fun teleopPeriodic() {
-            this@BerkeliumRobot.teleopPeriodic()
+            this@BerkeleyRobot.teleopPeriodic()
         }
 
         override fun disabledPeriodic() {
-            this@BerkeliumRobot.disabledPeriodic()
+            this@BerkeleyRobot.disabledPeriodic()
         }
 
         override fun testPeriodic() {
-            this@BerkeliumRobot.testPeriodic()
+            this@BerkeleyRobot.testPeriodic()
         }
     }
 

diff --git a/src/main/kotlin/org/team5419/fault/Controller.kt b/src/main/kotlin/org/team5419/fault/Controller.kt
@@ -1,4 +1,4 @@
-package org.team5419.fault
+package org.team5419.berkeleyLib
 
 interface Controller {
 

diff --git a/src/main/kotlin/org/team5419/fault/auto/Action.kt b/src/main/kotlin/org/team5419/fault/auto/Action.kt
@@ -1,13 +1,13 @@
-package org.team5419.fault.auto
-
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.Second
-import org.team5419.fault.math.units.seconds
-import org.team5419.fault.util.BooleanSource
-import org.team5419.fault.util.Source
-import org.team5419.fault.util.or
-import org.team5419.fault.util.time.ITimer
-import org.team5419.fault.util.time.WPITimer
+package org.team5419.berkeleyLib.auto
+
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.Second
+import org.team5419.berkeleyLib.math.units.seconds
+import org.team5419.berkeleyLib.util.BooleanSource
+import org.team5419.berkeleyLib.util.Source
+import org.team5419.berkeleyLib.util.or
+import org.team5419.berkeleyLib.util.time.ITimer
+import org.team5419.berkeleyLib.util.time.WPITimer
 
 typealias NothingAction = Action
 

diff --git a/src/main/kotlin/org/team5419/fault/auto/ActionGroup.kt b/src/main/kotlin/org/team5419/fault/auto/ActionGroup.kt
@@ -1,7 +1,7 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
-import org.team5419.fault.math.units.Second
-import org.team5419.fault.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.Second
+import org.team5419.berkeleyLib.math.units.SIUnit
 
 abstract class ActionGroup internal constructor() : Action() {
     internal abstract val actions: List<Action>

diff --git a/src/main/kotlin/org/team5419/fault/auto/ActionUtil.kt b/src/main/kotlin/org/team5419/fault/auto/ActionUtil.kt
@@ -1,4 +1,4 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
 enum class GroupType { Parallel, Serial }
 

diff --git a/src/main/kotlin/org/team5419/fault/auto/AutoSelector.kt b/src/main/kotlin/org/team5419/fault/auto/AutoSelector.kt
@@ -1,4 +1,4 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser

diff --git a/src/main/kotlin/org/team5419/fault/auto/CharacterizationAction.kt b/src/main/kotlin/org/team5419/fault/auto/CharacterizationAction.kt
@@ -1,13 +1,13 @@
 package org.team5419.frc2020.auto
 
-import org.team5419.fault.math.units.inMeters
+import org.team5419.berkeleyLib.math.units.inMeters
 import edu.wpi.first.wpilibj.Timer
 import edu.wpi.first.wpilibj.RobotController
 import edu.wpi.first.networktables.NetworkTableInstance
-import org.team5419.fault.subsystems.drivetrain.AbstractTankDrive
-import org.team5419.fault.auto.Action
-import org.team5419.fault.math.units.Second
-import org.team5419.fault.math.units.SIUnit
+import org.team5419.berkeleyLib.subsystems.drivetrain.AbstractTankDrive
+import org.team5419.berkeleyLib.auto.Action
+import org.team5419.berkeleyLib.math.units.Second
+import org.team5419.berkeleyLib.math.units.SIUnit
 
 public class CharacterizationAction(val drivetrain: AbstractTankDrive) : Action() {
 

diff --git a/src/main/kotlin/org/team5419/fault/auto/DriveStraightAction.kt b/src/main/kotlin/org/team5419/fault/auto/DriveStraightAction.kt
@@ -1,11 +1,11 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
-import org.team5419.fault.math.units.Meter
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.derived.LinearVelocity
-import org.team5419.fault.math.units.derived.velocity
-import org.team5419.fault.math.units.inches
-import org.team5419.fault.subsystems.drivetrain.AbstractTankDrive
+import org.team5419.berkeleyLib.math.units.Meter
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.derived.LinearVelocity
+import org.team5419.berkeleyLib.math.units.derived.velocity
+import org.team5419.berkeleyLib.math.units.inches
+import org.team5419.berkeleyLib.subsystems.drivetrain.AbstractTankDrive
 import kotlin.math.absoluteValue
 
 class DriveStraightAction(

diff --git a/src/main/kotlin/org/team5419/fault/auto/DriveTrajectoryAction.kt b/src/main/kotlin/org/team5419/fault/auto/DriveTrajectoryAction.kt
@@ -1,12 +1,12 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
-import org.team5419.fault.trajectory.types.Trajectory
-import org.team5419.fault.trajectory.types.TimedEntry
-import org.team5419.fault.math.geometry.Pose2dWithCurvature
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.Second
-import org.team5419.fault.subsystems.drivetrain.AbstractTankDrive
-import org.team5419.fault.trajectory.followers.TrajectoryFollower
+import org.team5419.berkeleyLib.trajectory.types.Trajectory
+import org.team5419.berkeleyLib.trajectory.types.TimedEntry
+import org.team5419.berkeleyLib.math.geometry.Pose2dWithCurvature
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.Second
+import org.team5419.berkeleyLib.subsystems.drivetrain.AbstractTankDrive
+import org.team5419.berkeleyLib.trajectory.followers.TrajectoryFollower
 
 public class DriveTrajectoryAction(
     private val drivetrain: AbstractTankDrive,

diff --git a/src/main/kotlin/org/team5419/fault/auto/DriveTurnAction.kt b/src/main/kotlin/org/team5419/fault/auto/DriveTurnAction.kt
@@ -1,13 +1,13 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
-import org.team5419.fault.math.geometry.Rotation2d
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.derived.Radian
-import org.team5419.fault.math.units.derived.degrees
-import org.team5419.fault.math.units.derived.velocity
-import org.team5419.fault.math.units.derived.AngularVelocity
+import org.team5419.berkeleyLib.math.geometry.Rotation2d
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.derived.Radian
+import org.team5419.berkeleyLib.math.units.derived.degrees
+import org.team5419.berkeleyLib.math.units.derived.velocity
+import org.team5419.berkeleyLib.math.units.derived.AngularVelocity
 
-import org.team5419.fault.subsystems.drivetrain.AbstractTankDrive
+import org.team5419.berkeleyLib.subsystems.drivetrain.AbstractTankDrive
 
 // ALLOW for absolute turn in future (using rotation2d math maybe)
 class DriveTurnAction(

diff --git a/src/main/kotlin/org/team5419/fault/auto/RamseteAction.kt b/src/main/kotlin/org/team5419/fault/auto/RamseteAction.kt
@@ -1,18 +1,18 @@
-package org.team5419.fault.auto
-
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.Meter
-import org.team5419.fault.math.units.meters
-import org.team5419.fault.math.units.inMeters
-import org.team5419.fault.math.units.seconds
-import org.team5419.fault.math.units.inSeconds
-import org.team5419.fault.math.units.derived.LinearVelocity
-import org.team5419.fault.math.units.derived.velocity
-import org.team5419.fault.math.units.derived.LinearAcceleration
-import org.team5419.fault.math.units.derived.Volt
-import org.team5419.fault.math.units.derived.volts
-import org.team5419.fault.math.geometry.Vector2
-import org.team5419.fault.subsystems.drivetrain.AbstractTankDrive
+package org.team5419.berkeleyLib.auto
+
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.Meter
+import org.team5419.berkeleyLib.math.units.meters
+import org.team5419.berkeleyLib.math.units.inMeters
+import org.team5419.berkeleyLib.math.units.seconds
+import org.team5419.berkeleyLib.math.units.inSeconds
+import org.team5419.berkeleyLib.math.units.derived.LinearVelocity
+import org.team5419.berkeleyLib.math.units.derived.velocity
+import org.team5419.berkeleyLib.math.units.derived.LinearAcceleration
+import org.team5419.berkeleyLib.math.units.derived.Volt
+import org.team5419.berkeleyLib.math.units.derived.volts
+import org.team5419.berkeleyLib.math.geometry.Vector2
+import org.team5419.berkeleyLib.subsystems.drivetrain.AbstractTankDrive
 import edu.wpi.first.wpilibj.controller.RamseteController
 import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward
 import edu.wpi.first.wpilibj.geometry.Pose2d
@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint
 import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint
-import org.team5419.fault.math.units.Second
+import org.team5419.berkeleyLib.math.units.Second
 
 // refrences:
 // https://github.com/wpilibsuite/allwpilib/blob/master/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -33,11 +33,11 @@ import org.team5419.fault.math.units.Second
 public class RamseteAction(
     val drivetrain: AbstractTankDrive,
 
-    val startingPose: org.team5419.fault.math.geometry.Pose2d,
+    val startingPose: org.team5419.berkeleyLib.math.geometry.Pose2d,
 
     val intermidatePose: Array<Vector2<Meter>>,
 
-    val finalPose: org.team5419.fault.math.geometry.Pose2d,
+    val finalPose: org.team5419.berkeleyLib.math.geometry.Pose2d,
 
     val maxVelocity: SIUnit<LinearVelocity>,
     val maxAcceleration: SIUnit<LinearAcceleration>,

diff --git a/src/main/kotlin/org/team5419/fault/auto/Routine.kt b/src/main/kotlin/org/team5419/fault/auto/Routine.kt
@@ -1,9 +1,9 @@
-package org.team5419.fault.auto
+package org.team5419.berkeleyLib.auto
 
-import org.team5419.fault.math.geometry.Pose2d
-import org.team5419.fault.math.geometry.Vector2
-import org.team5419.fault.math.units.derived.degrees
-import org.team5419.fault.math.units.meters
+import org.team5419.berkeleyLib.math.geometry.Pose2d
+import org.team5419.berkeleyLib.math.geometry.Vector2
+import org.team5419.berkeleyLib.math.units.derived.degrees
+import org.team5419.berkeleyLib.math.units.meters
 import java.util.concurrent.atomic.AtomicLong
 
 class Routine(

diff --git a/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeleyEncoder.kt b/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeleyEncoder.kt
@@ -0,0 +1,13 @@
+package org.team5419.berkeleyLib.hardware
+
+import org.team5419.berkeleyLib.math.units.SIKey
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.derived.Velocity
+import org.team5419.berkeleyLib.math.units.native.NativeUnitModel
+
+abstract class AbstractBerkeleyEncoder<T : SIKey>(
+    val model: NativeUnitModel<T>
+) : BerkeleyEncoder<T> {
+    override val position: SIUnit<T> get() = model.fromNativeUnitPosition(rawPosition)
+    override val velocity: SIUnit<Velocity<T>> get() = model.fromNativeUnitVelocity(rawVelocity)
+}
diff --git a/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeleyMotor.kt b/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeleyMotor.kt
@@ -0,0 +1,13 @@
+package org.team5419.berkeleyLib.hardware
+
+import org.team5419.berkeleyLib.math.units.SIKey
+
+abstract class AbstractBerkeleyMotor<T : SIKey> : BerkeleyMotor<T> {
+
+    override var useMotionProfileForPosition = false
+
+    override fun follow(motor: BerkeleyMotor<*>): Boolean {
+        println("Cross brand following not implemented yet!")
+        return false
+    }
+}
diff --git a/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeliumEncoder.kt b/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeliumEncoder.kt
diff --git a/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeliumMotor.kt b/src/main/kotlin/org/team5419/fault/hardware/AbstractBerkeliumMotor.kt
diff --git a/...am5419/fault/hardware/BerkeliumEncoder.kt → ...eam5419/fault/hardware/BerkeleyEncoder.kt b/...am5419/fault/hardware/BerkeliumEncoder.kt → ...eam5419/fault/hardware/BerkeleyEncoder.kt
@@ -1,12 +1,12 @@
-package org.team5419.fault.hardware
+package org.team5419.berkeleyLib.hardware
 
-import org.team5419.fault.math.units.SIKey
-import org.team5419.fault.math.units.SIUnit
-import org.team5419.fault.math.units.derived.Velocity
-import org.team5419.fault.math.units.native.NativeUnit
-import org.team5419.fault.math.units.native.NativeUnitVelocity
+import org.team5419.berkeleyLib.math.units.SIKey
+import org.team5419.berkeleyLib.math.units.SIUnit
+import org.team5419.berkeleyLib.math.units.derived.Velocity
+import org.team5419.berkeleyLib.math.units.native.NativeUnit
+import org.team5419.berkeleyLib.math.units.native.NativeUnitVelocity
 
-interface BerkeliumEncoder<T : SIKey> {
+interface BerkeleyEncoder<T : SIKey> {
 
     /**
      * The velocity of the encoder in [T]/s
-Original file line number
+Diff line change
@@ Expand Up / @@ -11,3 +11,4 @@ bin/ @@
     build/
     out/
     virtualenv_run/
+    tox.ini