Update Readme and Directory Name

README.md

@@ -8,9 +8,3 @@ All the "Advantage Scope" related files (CAD glTF files, layouts, etc.) can be
 found [here](https://www.youtube.com/watch?v=dQw4w9WgXcQ).   
 Credit to team 6328 Mechanical Advantage, for "Advantage Kit" and "Advantage Scope".
 We use these a lot and highly recommend them!
-
-# TRIGONLib [![](https://jitpack.io/v/Programming-TRIGON/TRIGONLib.svg)](https://jitpack.io/#Programming-TRIGON/TRIGONLib)
-
-[TRIGON 5990's library](https://github.com/Programming-TRIGON/TRIGONLib) for automatic Advantage Kit and Simulation
-hardware wrappers, utilities, commands, and more.    
-This library is used from the `org.trigon` import.

src/main/java/frc/trigon/robot/Robot.java

@@ -14,7 +14,7 @@
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 public class Robot extends LoggedRobot {
     public static final boolean IS_REAL = Robot.isReal();

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

@@ -21,7 +21,7 @@
 import frc.trigon.robot.subsystems.MotorSubsystem;
 import frc.trigon.robot.subsystems.swerve.Swerve;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
-import trigon.utilities.flippable.Flippable;
+import lib.utilities.flippable.Flippable;
 
 public class RobotContainer {
     public static final PoseEstimator ROBOT_POSE_ESTIMATOR = new PoseEstimator();

src/main/java/frc/trigon/robot/commands/CommandConstants.java

@@ -10,10 +10,10 @@
 import frc.trigon.robot.constants.OperatorConstants;
 import frc.trigon.robot.constants.PathPlannerConstants;
 import frc.trigon.robot.subsystems.swerve.SwerveCommands;
-import trigon.commands.CameraPositionCalculationCommand;
-import trigon.commands.WheelRadiusCharacterizationCommand;
-import trigon.hardware.misc.XboxController;
-import trigon.utilities.flippable.FlippableRotation2d;
+import lib.commands.CameraPositionCalculationCommand;
+import lib.commands.WheelRadiusCharacterizationCommand;
+import lib.hardware.misc.XboxController;
+import lib.utilities.flippable.FlippableRotation2d;
 
 /**
  * A class that contains commands that only use parameters and don't require logic.

src/main/java/frc/trigon/robot/commands/commandclasses/GamePieceAutoDriveCommand.java

@@ -11,7 +11,7 @@
 import frc.trigon.robot.misc.simulatedfield.SimulatedGamePieceConstants;
 import frc.trigon.robot.subsystems.swerve.SwerveCommands;
 import org.littletonrobotics.junction.Logger;
-import trigon.utilities.flippable.FlippableRotation2d;
+import lib.utilities.flippable.FlippableRotation2d;
 
 import java.util.function.Supplier;
 

src/main/java/frc/trigon/robot/commands/commandclasses/IntakeAssistCommand.java

@@ -12,7 +12,7 @@
 import frc.trigon.robot.constants.OperatorConstants;
 import frc.trigon.robot.subsystems.swerve.SwerveCommands;
 import org.littletonrobotics.junction.Logger;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 import java.util.function.Supplier;
 

src/main/java/frc/trigon/robot/commands/commandfactories/AutonomousCommands.java

@@ -7,7 +7,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.trigon.robot.RobotContainer;
 import org.json.simple.parser.ParseException;
-import trigon.utilities.flippable.FlippablePose2d;
+import lib.utilities.flippable.FlippablePose2d;
 
 import java.io.IOException;
 import java.util.function.Supplier;

src/main/java/frc/trigon/robot/constants/FieldConstants.java

@@ -7,7 +7,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
-import trigon.utilities.FilesHandler;
+import lib.utilities.FilesHandler;
 
 import java.io.IOException;
 import java.util.HashMap;

src/main/java/frc/trigon/robot/constants/OperatorConstants.java

@@ -3,8 +3,8 @@
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.trigon.robot.commands.commandclasses.IntakeAssistCommand;
-import trigon.hardware.misc.KeyboardController;
-import trigon.hardware.misc.XboxController;
+import lib.hardware.misc.KeyboardController;
+import lib.hardware.misc.XboxController;
 
 public class OperatorConstants {
     public static final double DRIVER_CONTROLLER_DEADBAND = 0.07;

src/main/java/frc/trigon/robot/constants/PathPlannerConstants.java

@@ -11,9 +11,9 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import frc.trigon.robot.RobotContainer;
 import org.json.simple.parser.ParseException;
-import trigon.hardware.RobotHardwareStats;
-import trigon.utilities.LocalADStarAK;
-import trigon.utilities.flippable.Flippable;
+import lib.hardware.RobotHardwareStats;
+import lib.utilities.LocalADStarAK;
+import lib.utilities.flippable.Flippable;
 
 import java.io.IOException;
 

src/main/java/frc/trigon/robot/constants/RobotConstants.java

@@ -1,8 +1,8 @@
 package frc.trigon.robot.constants;
 
 import frc.trigon.robot.Robot;
-import trigon.hardware.RobotHardwareStats;
-import trigon.utilities.FilesHandler;
+import lib.hardware.RobotHardwareStats;
+import lib.utilities.FilesHandler;
 
 public class RobotConstants {
     public static final String CANIVORE_NAME = "SwerveCANivore";

src/main/java/frc/trigon/robot/misc/objectdetectioncamera/ObjectDetectionCamera.java

@@ -7,7 +7,7 @@
 import frc.trigon.robot.misc.objectdetectioncamera.io.SimulationObjectDetectionCameraIO;
 import frc.trigon.robot.misc.simulatedfield.SimulatedGamePieceConstants;
 import org.littletonrobotics.junction.Logger;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 /**
  * An object detection camera is a class that represents a camera that detects objects other than apriltags, most likely game pieces.

src/main/java/frc/trigon/robot/misc/simulatedfield/SimulatedGamePieceConstants.java

@@ -1,8 +1,8 @@
 package frc.trigon.robot.misc.simulatedfield;
 
 import edu.wpi.first.math.geometry.Rotation3d;
-import trigon.utilities.flippable.FlippablePose3d;
-import trigon.utilities.flippable.FlippableTranslation2d;
+import lib.utilities.flippable.FlippablePose3d;
+import lib.utilities.flippable.FlippableTranslation2d;
 
 import java.util.ArrayList;
 import java.util.List;

src/main/java/frc/trigon/robot/misc/simulatedfield/SimulationScoringHandler.java

@@ -1,7 +1,7 @@
 package frc.trigon.robot.misc.simulatedfield;
 
 import edu.wpi.first.math.geometry.Pose3d;
-import trigon.utilities.flippable.FlippablePose3d;
+import lib.utilities.flippable.FlippablePose3d;
 
 import java.util.ArrayList;
 import java.util.List;

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraConstants.java

@@ -10,7 +10,7 @@
 import org.photonvision.PhotonPoseEstimator;
 import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.simulation.VisionSystemSim;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 import java.util.function.BiFunction;
 

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCameraIO.java

@@ -3,7 +3,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import org.littletonrobotics.junction.AutoLog;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 public class AprilTagCameraIO {
     static AprilTagCameraIO generateIO(AprilTagCameraConstants.AprilTagCameraType aprilTagCameraType, String name, Transform3d robotToCamera) {

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagLimelightIO.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.math.geometry.Transform3d;
 import frc.trigon.robot.poseestimation.apriltagcamera.AprilTagCameraIO;
 import frc.trigon.robot.poseestimation.apriltagcamera.AprilTagCameraInputsAutoLogged;
-import trigon.utilities.LimelightHelpers;
+import lib.utilities.LimelightHelpers;
 
 // TODO: Fully implement this class, Limelight currently not supported.
 public class AprilTagLimelightIO extends AprilTagCameraIO {

src/main/java/frc/trigon/robot/poseestimation/poseestimator/PoseEstimator.java

@@ -19,8 +19,8 @@
 import frc.trigon.robot.subsystems.swerve.SwerveConstants;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
-import trigon.utilities.QuickSortHandler;
-import trigon.utilities.flippable.Flippable;
+import lib.utilities.QuickSortHandler;
+import lib.utilities.flippable.Flippable;
 
 import java.util.Arrays;
 import java.util.Map;

src/main/java/frc/trigon/robot/poseestimation/relativerobotposesource/RelativeRobotPoseSourceIO.java

@@ -4,7 +4,7 @@
 import frc.trigon.robot.poseestimation.relativerobotposesource.io.RelativeRobotPoseSourceSimulationIO;
 import frc.trigon.robot.poseestimation.relativerobotposesource.io.RelativeRobotPoseSourceT265IO;
 import org.littletonrobotics.junction.AutoLog;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 public class RelativeRobotPoseSourceIO {
     static RelativeRobotPoseSourceIO generateIO(String hostname) {

src/main/java/frc/trigon/robot/poseestimation/relativerobotposesource/io/RelativeRobotPoseSourceT265IO.java

@@ -7,7 +7,7 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import frc.trigon.robot.poseestimation.relativerobotposesource.RelativeRobotPoseSourceIO;
 import frc.trigon.robot.poseestimation.relativerobotposesource.RelativeRobotPoseSourceInputsAutoLogged;
-import trigon.utilities.JsonHandler;
+import lib.utilities.JsonHandler;
 
 public class RelativeRobotPoseSourceT265IO extends RelativeRobotPoseSourceIO {
     private final NetworkTableEntry jsonDumpEntry;

src/main/java/frc/trigon/robot/subsystems/MotorSubsystem.java

@@ -9,7 +9,7 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.trigon.robot.RobotContainer;
 import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 
 import java.util.ArrayList;
 import java.util.List;

src/main/java/frc/trigon/robot/subsystems/swerve/Swerve.java

@@ -20,13 +20,13 @@
 import frc.trigon.robot.subsystems.swerve.swervemodule.SwerveModuleConstants;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
-import trigon.hardware.RobotHardwareStats;
-import trigon.hardware.phoenix6.Phoenix6SignalThread;
-import trigon.hardware.phoenix6.pigeon2.Pigeon2Gyro;
-import trigon.hardware.phoenix6.pigeon2.Pigeon2Signal;
-import trigon.utilities.flippable.Flippable;
-import trigon.utilities.flippable.FlippablePose2d;
-import trigon.utilities.flippable.FlippableRotation2d;
+import lib.hardware.RobotHardwareStats;
+import lib.hardware.phoenix6.Phoenix6SignalThread;
+import lib.hardware.phoenix6.pigeon2.Pigeon2Gyro;
+import lib.hardware.phoenix6.pigeon2.Pigeon2Signal;
+import lib.utilities.flippable.Flippable;
+import lib.utilities.flippable.FlippablePose2d;
+import lib.utilities.flippable.FlippableRotation2d;
 
 public class Swerve extends MotorSubsystem {
     private final Pigeon2Gyro gyro = SwerveConstants.GYRO;

src/main/java/frc/trigon/robot/subsystems/swerve/SwerveCommands.java

@@ -4,9 +4,9 @@
 import com.pathplanner.lib.path.PathConstraints;
 import edu.wpi.first.wpilibj2.command.*;
 import frc.trigon.robot.RobotContainer;
-import trigon.commands.InitExecuteCommand;
-import trigon.utilities.flippable.FlippablePose2d;
-import trigon.utilities.flippable.FlippableRotation2d;
+import lib.commands.InitExecuteCommand;
+import lib.utilities.flippable.FlippablePose2d;
+import lib.utilities.flippable.FlippableRotation2d;
 
 import java.util.Set;
 import java.util.function.DoubleSupplier;

src/main/java/frc/trigon/robot/subsystems/swerve/SwerveConstants.java

@@ -12,9 +12,9 @@
 import frc.trigon.robot.constants.RobotConstants;
 import frc.trigon.robot.poseestimation.poseestimator.PoseEstimatorConstants;
 import frc.trigon.robot.subsystems.swerve.swervemodule.SwerveModule;
-import trigon.hardware.RobotHardwareStats;
-import trigon.hardware.phoenix6.pigeon2.Pigeon2Gyro;
-import trigon.hardware.phoenix6.pigeon2.Pigeon2Signal;
+import lib.hardware.RobotHardwareStats;
+import lib.hardware.phoenix6.pigeon2.Pigeon2Gyro;
+import lib.hardware.phoenix6.pigeon2.Pigeon2Signal;
 
 public class SwerveConstants {
     private static final int GYRO_ID = 0;

src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java

@@ -12,11 +12,11 @@
 import frc.trigon.robot.constants.RobotConstants;
 import frc.trigon.robot.poseestimation.poseestimator.PoseEstimatorConstants;
 import frc.trigon.robot.subsystems.swerve.SwerveConstants;
-import trigon.hardware.phoenix6.cancoder.CANcoderEncoder;
-import trigon.hardware.phoenix6.cancoder.CANcoderSignal;
-import trigon.hardware.phoenix6.talonfx.TalonFXMotor;
-import trigon.hardware.phoenix6.talonfx.TalonFXSignal;
-import trigon.utilities.Conversions;
+import lib.hardware.phoenix6.cancoder.CANcoderEncoder;
+import lib.hardware.phoenix6.cancoder.CANcoderSignal;
+import lib.hardware.phoenix6.talonfx.TalonFXMotor;
+import lib.hardware.phoenix6.talonfx.TalonFXSignal;
+import lib.utilities.Conversions;
 
 public class SwerveModule {
     private final TalonFXMotor

src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java

@@ -10,8 +10,8 @@
 import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.trigon.robot.constants.PathPlannerConstants;
-import trigon.hardware.RobotHardwareStats;
-import trigon.hardware.simulation.SimpleMotorSimulation;
+import lib.hardware.RobotHardwareStats;
+import lib.hardware.simulation.SimpleMotorSimulation;
 
 public class SwerveModuleConstants {
     private static final double

src/main/java/trigon/commands/CameraPositionCalculationCommand.java → src/main/java/lib/commands/CameraPositionCalculationCommand.java

@@ -1,4 +1,4 @@
-package trigon.commands;
+package lib.commands;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;

src/main/java/trigon/commands/ExecuteEndCommand.java → src/main/java/lib/commands/ExecuteEndCommand.java

@@ -1,4 +1,4 @@
-package trigon.commands;
+package lib.commands;
 
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

src/main/java/trigon/commands/GearRatioCalculationCommand.java → src/main/java/lib/commands/GearRatioCalculationCommand.java

@@ -1,15 +1,15 @@
-package trigon.commands;
+package lib.commands;
 
 import com.ctre.phoenix6.controls.VoltageOut;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
-import trigon.hardware.phoenix6.cancoder.CANcoderEncoder;
-import trigon.hardware.phoenix6.cancoder.CANcoderSignal;
-import trigon.hardware.phoenix6.talonfx.TalonFXMotor;
-import trigon.hardware.phoenix6.talonfx.TalonFXSignal;
+import lib.hardware.phoenix6.cancoder.CANcoderEncoder;
+import lib.hardware.phoenix6.cancoder.CANcoderSignal;
+import lib.hardware.phoenix6.talonfx.TalonFXMotor;
+import lib.hardware.phoenix6.talonfx.TalonFXSignal;
 
 import java.util.function.DoubleConsumer;
 import java.util.function.DoubleSupplier;

src/main/java/trigon/commands/InitExecuteCommand.java → src/main/java/lib/commands/InitExecuteCommand.java

@@ -1,4 +1,4 @@
-package trigon.commands;
+package lib.commands;
 
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

src/main/java/trigon/commands/NetworkTablesCommand.java → src/main/java/lib/commands/NetworkTablesCommand.java

@@ -1,4 +1,4 @@
-package trigon.commands;
+package lib.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;

src/main/java/trigon/commands/WheelRadiusCharacterizationCommand.java → src/main/java/lib/commands/WheelRadiusCharacterizationCommand.java

@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package trigon.commands;
+package lib.commands;
 
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Translation2d;

src/main/java/trigon/hardware/InputsBase.java → src/main/java/lib/hardware/InputsBase.java

@@ -1,4 +1,4 @@
-package trigon.hardware;
+package lib.hardware;
 
 import edu.wpi.first.wpilibj.Timer;
 import org.littletonrobotics.junction.LogTable;

src/main/java/trigon/hardware/RobotHardwareStats.java → src/main/java/lib/hardware/RobotHardwareStats.java

@@ -1,4 +1,4 @@
-package trigon.hardware;
+package lib.hardware;
 
 /**
  * A class that contains stats about the robot's hardware.

src/main/java/trigon/hardware/SignalThreadBase.java → src/main/java/lib/hardware/SignalThreadBase.java

@@ -1,8 +1,7 @@
-package trigon.hardware;
+package lib.hardware;
 
 import org.littletonrobotics.junction.AutoLog;
 import org.littletonrobotics.junction.Logger;
-import trigon.hardware.RobotHardwareStats;
 import trigon.hardware.ThreadInputsAutoLogged;
 
 import java.util.Queue;

src/main/java/trigon/hardware/grapple/lasercan/LaserCAN.java → src/main/java/lib/hardware/grapple/lasercan/LaserCAN.java

@@ -1,9 +1,8 @@
-package trigon.hardware.grapple.lasercan;
+package lib.hardware.grapple.lasercan;
 
 import au.grapplerobotics.ConfigurationFailedException;
 import au.grapplerobotics.LaserCan;
 import org.littletonrobotics.junction.Logger;
-import trigon.hardware.grapple.lasercan.LaserCANIO;
 import trigon.hardware.grapple.lasercan.LaserCANInputsAutoLogged;
 
 import java.util.function.DoubleSupplier;

src/main/java/trigon/hardware/grapple/lasercan/LaserCANIO.java → src/main/java/lib/hardware/grapple/lasercan/LaserCANIO.java

@@ -1,12 +1,12 @@
-package trigon.hardware.grapple.lasercan;
+package lib.hardware.grapple.lasercan;
 
 import au.grapplerobotics.ConfigurationFailedException;
 import au.grapplerobotics.LaserCan;
 import org.littletonrobotics.junction.AutoLog;
-import trigon.hardware.RobotHardwareStats;
+import lib.hardware.RobotHardwareStats;
 import trigon.hardware.grapple.lasercan.LaserCANInputsAutoLogged;
-import trigon.hardware.grapple.lasercan.io.RealLaserCANIO;
-import trigon.hardware.grapple.lasercan.io.SimulationLaserCANIO;
+import lib.hardware.grapple.lasercan.io.RealLaserCANIO;
+import lib.hardware.grapple.lasercan.io.SimulationLaserCANIO;
 
 import java.util.function.DoubleSupplier;
 

src/main/java/trigon/hardware/grapple/lasercan/io/RealLaserCANIO.java → src/main/java/lib/hardware/grapple/lasercan/io/RealLaserCANIO.java

@@ -1,8 +1,8 @@
-package trigon.hardware.grapple.lasercan.io;
+package lib.hardware.grapple.lasercan.io;
 
 import au.grapplerobotics.ConfigurationFailedException;
 import au.grapplerobotics.LaserCan;
-import trigon.hardware.grapple.lasercan.LaserCANIO;
+import lib.hardware.grapple.lasercan.LaserCANIO;
 import trigon.hardware.grapple.lasercan.LaserCANInputsAutoLogged;
 
 public class RealLaserCANIO extends LaserCANIO {