reorganize

shuffleboardLayout.json

@@ -5,11 +5,11 @@
       "autoPopulate": true,
       "autoPopulatePrefix": "SmartDashboard/",
       "widgetPane": {
-        "gridSize": 128.0,
+        "gridSize": 109.0,
         "showGrid": true,
         "hgap": 8.0,
         "vgap": 8.0,
-        "titleType": 0,
+        "titleType": 1,
         "tiles": {
           "1,0": {
             "size": [

src/main/java/frc/robot/Constants.java

@@ -20,7 +20,7 @@ private Constants() {}
 
   public static final boolean SHOW_SYS_ID_AUTOS = false;
 
-  private static RobotType robotType = RobotType.TEST_BOT;
+  private static RobotType robotType = RobotType.SIM_BOT;
 
   public static RobotType getRobot() {
     if (RobotBase.isReal() && robotType == RobotType.SIM_BOT) {

src/main/java/frc/robot/RobotContainer.java

@@ -21,11 +21,6 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants.Mode;
 import frc.robot.Constants.RobotType;
-import frc.robot.subsystems.cannon.CannonConstants;
-import frc.robot.subsystems.cannon.CannonIO;
-import frc.robot.subsystems.cannon.CannonIOHardware;
-import frc.robot.subsystems.cannon.CannonIOSim;
-import frc.robot.subsystems.cannon.FiringTube;
 import frc.robot.subsystems.dashboard.DriverDashboard;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveConstants;
@@ -36,14 +31,19 @@
 import frc.robot.subsystems.drive.controllers.SpeedController;
 import frc.robot.subsystems.drive.controllers.SpeedController.SpeedLevel;
 import frc.robot.subsystems.drive.controllers.TeleopDriveController;
-import frc.robot.subsystems.gateway.GatewayIO;
-import frc.robot.subsystems.gateway.GatewayIOHardware;
-import frc.robot.subsystems.gateway.GatewayIOSim;
-import frc.robot.subsystems.gateway.GatewayTank;
-import frc.robot.subsystems.reservoir.ReservoirIO;
-import frc.robot.subsystems.reservoir.ReservoirIOHardware;
-import frc.robot.subsystems.reservoir.ReservoirIOSim;
-import frc.robot.subsystems.reservoir.ReservoirTank;
+import frc.robot.subsystems.pneumatics.cannon.CannonConstants;
+import frc.robot.subsystems.pneumatics.cannon.CannonIO;
+import frc.robot.subsystems.pneumatics.cannon.CannonIOHardware;
+import frc.robot.subsystems.pneumatics.cannon.CannonIOSim;
+import frc.robot.subsystems.pneumatics.cannon.FiringTube;
+import frc.robot.subsystems.pneumatics.gateway.GatewayIO;
+import frc.robot.subsystems.pneumatics.gateway.GatewayIOHardware;
+import frc.robot.subsystems.pneumatics.gateway.GatewayIOSim;
+import frc.robot.subsystems.pneumatics.gateway.GatewayTank;
+import frc.robot.subsystems.pneumatics.reservoir.ReservoirIO;
+import frc.robot.subsystems.pneumatics.reservoir.ReservoirIOHardware;
+import frc.robot.subsystems.pneumatics.reservoir.ReservoirIOSim;
+import frc.robot.subsystems.pneumatics.reservoir.ReservoirTank;
 import frc.robot.subsystems.vision.AprilTagVision;
 import frc.robot.utility.NormUtil;
 import frc.robot.utility.OverrideSwitch;
@@ -324,13 +324,12 @@ private void configureDriverControllerBindings() {
       boolean includeDiagonalPOV = true;
       for (int pov = 0; pov < 360; pov += includeDiagonalPOV ? 45 : 90) {
 
-        // POV angles are in Clock Wise degrees, needs to be flipped to get correct
-        // rotation2d
+        // POV angles are in Clock Wise degrees, needs to be flipped to get correct rotation2d
         final Rotation2d angle = Rotation2d.fromDegrees(-pov);
         final String name = String.format("%d\u00B0", pov);
 
-        // While the POV is being pressed and we are not in angle control mode, set the
-        // chassis speeds to the Cos and Sin of the angle
+        // While the POV is being pressed and we are not in angle control mode, set the chassis
+        // speeds to the Cos and Sin of the angle
         driverXbox
             .pov(pov)
             .and(useAngleControlMode)
@@ -344,8 +343,8 @@ private void configureDriverControllerBindings() {
                         drive::stop)
                     .withName(String.format("DriveRobotRelative %s", name)));
 
-        // While the POV is being pressed and we are angle control mode
-        // Start by resetting the controller and setting the goal angle to the pov angle
+        // While the POV is being pressed and we are angle control mode. Start by resetting the
+        // controller and setting the goal angle to the pov angle
         driverXbox
             .pov(pov)
             .and(useAngleControlMode.negate())
@@ -358,8 +357,8 @@ private void configureDriverControllerBindings() {
                         })
                     .withName(String.format("PrepareLockedHeading %s", name)));
 
-        // Then if the button is held for more than 0.2 seconds, drive forward at the
-        // angle once the chassis reaches it
+        // Then if the button is held for more than 0.2 seconds, drive forward at the angle once the
+        // chassis reaches it
         driverXbox
             .pov(pov)
             .debounce(0.2)
@@ -378,8 +377,8 @@ private void configureDriverControllerBindings() {
                         })
                     .withName(String.format("ForwardLockedHeading %s", name)));
 
-        // Then once the pov is let go, if we are not at the angle continue turn to it,
-        // while also accepting x and y input to drive. Cancel once we get turn request
+        // Then once the pov is let go, if we are not at the angle continue turn to it, while also
+        // accepting x and y input to drive. Cancel once we get turn request
         driverXbox
             .pov(pov)
             .and(useAngleControlMode.negate())
@@ -401,8 +400,7 @@ private void configureDriverControllerBindings() {
                     .withName(String.format("DriveLockedHeading %s", name)));
       }
 
-      // While X is held down go into stop and go into the cross position to resistent
-      // movement,
+      // While X is held down go into stop and go into the cross position to resistent movement,
       // then once X button is let go put modules forward
       driverXbox
           .x()
@@ -411,9 +409,8 @@ private void configureDriverControllerBindings() {
                   .startEnd(drive::stopUsingBrakeArrangement, drive::stopUsingForwardArrangement)
                   .withName("StopWithX"));
 
-      // When be is pressed stop the drivetrain then idle it, cancelling all incoming
-      // commands.
-      // Also do this when robot is disabled
+      // When be is pressed stop the drivetrain then idle it, cancelling all incoming commands. Also
+      // do this when robot is disabled
       driverXbox
           .b()
           .or(RobotModeTriggers.disabled())
@@ -424,23 +421,17 @@ private void configureDriverControllerBindings() {
                   .withInterruptBehavior(InterruptionBehavior.kCancelIncoming)
                   .withName("StopCancel"));
 
-      // When right (Gas) trigger is held down or left stick (sprint) is pressed, put
-      // in boost
-      // (fast) mode
+      // When right (Gas) trigger is held down put in boost (fast) mode
       driverXbox
           .rightTrigger(0.5)
-          // .or(driverXbox.leftStick())
           .whileTrue(
               Commands.startEnd(
                   () -> speedController.pushSpeedLevel(SpeedLevel.BOOST),
                   () -> speedController.removeSpeedLevel(SpeedLevel.BOOST)));
 
-      // When left (Brake) trigger is held down or right stick (crouch) is pressed put
-      // in precise
-      // (slow) mode
+      // When left (Brake) trigger is held down put in precise (slow) mode
       driverXbox
           .leftTrigger(0.5)
-          // .or(driverXbox.rightStick())
           .whileTrue(
               Commands.startEnd(
                   () -> speedController.pushSpeedLevel(SpeedLevel.PRECISE),
@@ -473,11 +464,6 @@ private void configureOperatorControllerBindings() {
     if (operatorController instanceof CommandXboxController) {
       final CommandXboxController operatorXbox = (CommandXboxController) operatorController;
 
-      // TODO, this should be the other way around, pressing buttons should put
-      // command that pause
-      // the filling and in general more commands should be used to greatly simplify
-      // code.
-
       operatorXbox
           .y()
           .whileTrue(

src/main/java/frc/robot/utility/SimPneumaticsPipe.java → src/main/java/frc/robot/subsystems/pneumatics/SimPneumaticsPipe.java

@@ -1,4 +1,4 @@
-package frc.robot.utility;
+package frc.robot.subsystems.pneumatics;
 
 import java.util.function.BooleanSupplier;
 

src/main/java/frc/robot/subsystems/cannon/CannonConstants.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/CannonConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 public class CannonConstants {
   public static final double FIRE_TUBE_OPEN_TIME_SECONDS = 0.2;

src/main/java/frc/robot/subsystems/cannon/CannonIO.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/CannonIO.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 import org.littletonrobotics.junction.AutoLog;
 

src/main/java/frc/robot/subsystems/cannon/CannonIOHardware.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/CannonIOHardware.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;

src/main/java/frc/robot/subsystems/cannon/CannonIOSim.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/CannonIOSim.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 public class CannonIOSim implements CannonIO {
 

src/main/java/frc/robot/subsystems/cannon/FiringSystem.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/FiringSystem.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.Arrays;

src/main/java/frc/robot/subsystems/cannon/FiringTube.java → src/main/java/frc/robot/subsystems/pneumatics/cannon/FiringTube.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.cannon;
+package frc.robot.subsystems.pneumatics.cannon;
 
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.wpilibj.Timer;

src/main/java/frc/robot/subsystems/gateway/GatewayConstants.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/GatewayConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 public class GatewayConstants {
   private GatewayConstants() {}

src/main/java/frc/robot/subsystems/gateway/GatewayIO.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/GatewayIO.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 import java.util.function.BooleanSupplier;
 import org.littletonrobotics.junction.AutoLog;

src/main/java/frc/robot/subsystems/gateway/GatewayIOHardware.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/GatewayIOHardware.java

@@ -1,9 +1,9 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.hardwareWrappers.Transducer;
+import frc.robot.subsystems.pneumatics.hardwareWrappers.Transducer;
 
 public class GatewayIOHardware implements GatewayIO {
 

src/main/java/frc/robot/subsystems/gateway/GatewayIOSim.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/GatewayIOSim.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 import frc.robot.Constants;
 import java.util.function.BooleanSupplier;

src/main/java/frc/robot/subsystems/gateway/GatewayTank.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/GatewayTank.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -159,6 +159,9 @@ public void unpause() {
   // --- Status String ---
 
   public String getStatusString() {
+    if (DriverStation.isDisabled()) {
+      return "Pause: Disabled";
+    }
     if (isFilling()) {
       return String.format("Filling to %.2f PSI (End threshold)", controller.getUpperThreshold());
     } else if (!controller.isOn() && getPressure() > controller.getLowerThreshold()) {

src/main/java/frc/robot/subsystems/gateway/InterpolatingShotTable.java → src/main/java/frc/robot/subsystems/pneumatics/gateway/InterpolatingShotTable.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.gateway;
+package frc.robot.subsystems.pneumatics.gateway;
 
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 

src/main/java/frc/robot/hardwareWrappers/PressureSwitch.java → src/main/java/frc/robot/subsystems/pneumatics/hardwareWrappers/PressureSwitch.java

@@ -1,4 +1,4 @@
-package frc.robot.hardwareWrappers;
+package frc.robot.subsystems.pneumatics.hardwareWrappers;
 
 import edu.wpi.first.wpilibj.DigitalGlitchFilter;
 import edu.wpi.first.wpilibj.DigitalInput;

src/main/java/frc/robot/hardwareWrappers/RelaySolenoid.java → src/main/java/frc/robot/subsystems/pneumatics/hardwareWrappers/RelaySolenoid.java

@@ -1,4 +1,4 @@
-package frc.robot.hardwareWrappers;
+package frc.robot.subsystems.pneumatics.hardwareWrappers;
 
 import edu.wpi.first.wpilibj.Relay;
 

src/main/java/frc/robot/hardwareWrappers/Transducer.java → src/main/java/frc/robot/subsystems/pneumatics/hardwareWrappers/Transducer.java

@@ -1,4 +1,4 @@
-package frc.robot.hardwareWrappers;
+package frc.robot.subsystems.pneumatics.hardwareWrappers;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.AnalogInput;

src/main/java/frc/robot/subsystems/reservoir/ReservoirConstants.java → src/main/java/frc/robot/subsystems/pneumatics/reservoir/ReservoirConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.reservoir;
+package frc.robot.subsystems.pneumatics.reservoir;
 
 public class ReservoirConstants {
   private ReservoirConstants() {}

src/main/java/frc/robot/subsystems/reservoir/ReservoirIO.java → src/main/java/frc/robot/subsystems/pneumatics/reservoir/ReservoirIO.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.reservoir;
+package frc.robot.subsystems.pneumatics.reservoir;
 
 import java.util.function.BooleanSupplier;
 import org.littletonrobotics.junction.AutoLog;

src/main/java/frc/robot/subsystems/reservoir/ReservoirIOHardware.java → src/main/java/frc/robot/subsystems/pneumatics/reservoir/ReservoirIOHardware.java

@@ -1,10 +1,10 @@
-package frc.robot.subsystems.reservoir;
+package frc.robot.subsystems.pneumatics.reservoir;
 
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Relay.Direction;
 import edu.wpi.first.wpilibj.Relay.Value;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.hardwareWrappers.Transducer;
+import frc.robot.subsystems.pneumatics.hardwareWrappers.Transducer;
 
 public class ReservoirIOHardware implements ReservoirIO {
 

src/main/java/frc/robot/subsystems/reservoir/ReservoirIOSim.java → src/main/java/frc/robot/subsystems/pneumatics/reservoir/ReservoirIOSim.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.reservoir;
+package frc.robot.subsystems.pneumatics.reservoir;
 
 import frc.robot.Constants;
 import java.util.function.BooleanSupplier;

src/main/java/frc/robot/subsystems/reservoir/ReservoirTank.java → src/main/java/frc/robot/subsystems/pneumatics/reservoir/ReservoirTank.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.reservoir;
+package frc.robot.subsystems.pneumatics.reservoir;
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -129,6 +129,9 @@ public void unpause() {
   // --- Status String ---
 
   public String getStatusString() {
+    if (DriverStation.isDisabled()) {
+      return "Pause: Disabled";
+    }
     if (isFilling()) {
       return String.format("Filling to %.2f PSI (End threshold)", controller.getUpperThreshold());
     } else if (!controller.isOn() && getPressure() > controller.getLowerThreshold()) {