Made the scadlib package

src/PathTest.java

@@ -6,12 +6,12 @@
 
 import org.math.plot.Plot2DPanel;
 
-import extra.GoodGraphing;
-import paths.FastPathPlanner;
-import paths.MotionPath;
-import paths.Point;
-import paths.Position;
-import paths.Util;
+import scadlib.extra.GoodGraphing;
+import scadlib.paths.FastPathPlanner;
+import scadlib.paths.MotionPath;
+import scadlib.paths.Point;
+import scadlib.paths.Position;
+import scadlib.paths.Util;
 
 /**
  * Overarching class to run various paths.
@@ -48,18 +48,19 @@ public static void main(String[] args) {
 		figure.yGridOn();
 		figure.setYLabel("Y (inches)");
 		figure.setXLabel("X (inches)");
-		double width = 648, height = 324.5;
-		double robotWidth = 22;
-		double robotLength = 32;
-		figure.setXTic(0, width, 12);
-		figure.setYTic(0, height, 12);
-		// Add the close switch
-		// 38.719 is length of switch
+		double width = 648;
+		double height = 324.5;
+		double robotWidth = 25.75;
+		double robotLength = 37.25;
 		double switchLength = 38.719;
 		double distanceToSwitchFromWall = 85.25;
 		double distanceToSwitchFromAlliance = 140;
 		double delta = 10;
 		double widthOfSwitch = 56;
+		figure.setXTic(0, width, 12);
+		figure.setYTic(0, height, 12);
+		// Add the close switch
+		// 38.719 is length of switch
 		figure.addData(new double[][]{
 			{distanceToSwitchFromAlliance, distanceToSwitchFromWall},
 			{distanceToSwitchFromAlliance, height-distanceToSwitchFromWall},
@@ -110,6 +111,8 @@ public static void main(String[] args) {
 		figure.addData(fpp.leftPath, Color.red);
 		figure.addData(fpp.rightPath, Color.green);
 
+
+
 		GoodGraphing fig = new GoodGraphing(fpp.smoothCenterVelocity, null, Color.blue);
 		fig.yGridOn();
 		fig.xGridOn();
@@ -119,6 +122,14 @@ public static void main(String[] args) {
 		fig.addData(fpp.smoothLeftVelocity, Color.red);
 		fig.addData(fpp.smoothRightVelocity, Color.green);
 
+		double[][] leftV = fpp.smoothLeftVelocity;
+		double[][] rightV = fpp.smoothRightVelocity;
+
+		for (int i = 0; i < leftV.length; i++) {
+			System.out.print(leftV[i][0]);
+			System.out.println(", "+leftV[i][1]);
+		}
+
 		GoodGraphing pos = new GoodGraphing(fpp.nodeOnlyPath, Color.blue, Color.green);
 		pos.yGridOn();
 		pos.xGridOn();

src/extra/GoodGraphing.java → src/scadlib/extra/GoodGraphing.java

@@ -1,4 +1,4 @@
-package extra;
+package scadlib.extra;
 
 import java.awt.*;
 import java.awt.datatransfer.Clipboard;

src/extra/PIDF.java → src/scadlib/extra/PIDF.java

@@ -1,4 +1,4 @@
-package extra;
+package scadlib.extra;
 
 public class PIDF {
 	private double p,i,d,f;

src/extra/RobotPathFollower.java → src/scadlib/extra/RobotPathFollower.java

@@ -1,6 +1,6 @@
-package extra;
+package scadlib.extra;
 
-import paths.RobotPath;
+import scadlib.paths.RobotPath;
 
 public class RobotPathFollower {
 	private double width,wheelDiameter,ticksPerRevolution;

src/paths/CombinedPath.java → src/scadlib/paths/CombinedPath.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 /**
  * Provides handling for multiple MotionPaths combined together.
  * DOES NOT INTEGRATE ANY OF THE PROVIDED PATHS

src/paths/FastPathPlanner.java → src/scadlib/paths/FastPathPlanner.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 import java.util.LinkedList;
 import java.util.List;

src/paths/Hold.java → src/scadlib/paths/Hold.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 /**
  * A class for simple flat lines.
  * An easier to use alternative over {@link LinearDerivativePath} as it does not need velocity.

src/paths/IntegralPath.java → src/scadlib/paths/IntegralPath.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 public class IntegralPath implements MotionPath {
 	private MotionPath speedPath;
 	private double position;

src/paths/LinearDerivativePath.java → src/scadlib/paths/LinearDerivativePath.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 /**
  * A Linear velocity curve {@link MotionPath}. This is one of the simplest {@link MotionPath}s.
  * It uses kinematic equations to determine position, speed, and acceleration based off of input.

src/paths/MotionPath.java → src/scadlib/paths/MotionPath.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 /**
  * The overall MotionPath interface. This could also be rewritten to an abstract class.
  * This makes creating new paths trivial. One can also visualize any MotionPath.

src/paths/Point.java → src/scadlib/paths/Point.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public class Point {
 	public double x,y,vx,vy,ax,ay = 0;

src/paths/Position.java → src/scadlib/paths/Position.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public class Position {
 	public double x, y, theta;

src/paths/PotentialSpline.java → src/scadlib/paths/PotentialSpline.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public interface PotentialSpline {
 	public double get(double t);

src/paths/RobotPath.java → src/scadlib/paths/RobotPath.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public class RobotPath {
 	Trajectory traj;

src/paths/SimplePoint.java → src/scadlib/paths/SimplePoint.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public class SimplePoint {
 	public double pos,vel,accel;

src/paths/Spline.java → src/scadlib/paths/Spline.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 import java.util.ArrayList;
 import java.util.List;
 

src/paths/Trajectory.java → src/scadlib/paths/Trajectory.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 
 public class Trajectory {
 	private static final int ARCLENGTH_SAMPLES = 10000;

src/paths/Util.java → src/scadlib/paths/Util.java

@@ -1,4 +1,4 @@
-package paths;
+package scadlib.paths;
 import java.io.BufferedWriter;
 import java.io.File;
 import java.io.FileOutputStream;