REFACTOR: Swerve subsystem directory should be full lowercase

Author: dabeycorn

src/main/java/wmironpatriots/subsystems/Swerve/Swerve.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve;
+package wmironpatriots.subsystems.swerve;
 
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
@@ -28,12 +28,12 @@
 import java.util.function.DoubleSupplier;
 import wmironpatriots.Constants;
 import wmironpatriots.Robot;
-import wmironpatriots.subsystems.Swerve.gyro.GyroHardware;
-import wmironpatriots.subsystems.Swerve.gyro.GyroHardwareComp;
-import wmironpatriots.subsystems.Swerve.gyro.GyroHardwareNone;
-import wmironpatriots.subsystems.Swerve.module.Module;
-import wmironpatriots.subsystems.Swerve.module.ModuleHardwareComp;
-import wmironpatriots.subsystems.Swerve.module.ModuleHardwareSim;
+import wmironpatriots.subsystems.swerve.gyro.GyroHardware;
+import wmironpatriots.subsystems.swerve.gyro.GyroHardwareComp;
+import wmironpatriots.subsystems.swerve.gyro.GyroHardwareNone;
+import wmironpatriots.subsystems.swerve.module.Module;
+import wmironpatriots.subsystems.swerve.module.ModuleHardwareComp;
+import wmironpatriots.subsystems.swerve.module.ModuleHardwareSim;
 
 public class Swerve implements Subsystem {
   public static Swerve create() {
@@ -131,8 +131,8 @@ public Command driveFromMagnitudes(
                     angularRateMagnitude.getAsDouble()
                         * SwerveConstants.MAX_ANGULAR_RATE.in(RadiansPerSecond),
                     DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue
-                      ? getHeadingRotation2d()
-                      : getHeadingRotation2d().plus(Rotation2d.k180deg))));
+                        ? getHeadingRotation2d()
+                        : getHeadingRotation2d().plus(Rotation2d.k180deg))));
   }
 
   public Command stopAndLock() {

src/main/java/wmironpatriots/subsystems/Swerve/SwerveConstants.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve;
+package wmironpatriots.subsystems.swerve;
 
 import static edu.wpi.first.units.Units.FeetPerSecond;
 import static edu.wpi.first.units.Units.Inches;

src/main/java/wmironpatriots/subsystems/Swerve/gyro/GyroHardware.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.gyro;
+package wmironpatriots.subsystems.swerve.gyro;
 
 import edu.wpi.first.math.geometry.Rotation3d;
 

src/main/java/wmironpatriots/subsystems/Swerve/gyro/GyroHardwareComp.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.gyro;
+package wmironpatriots.subsystems.swerve.gyro;
 
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.geometry.Rotation3d;

src/main/java/wmironpatriots/subsystems/Swerve/gyro/GyroHardwareNone.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.gyro;
+package wmironpatriots.subsystems.swerve.gyro;
 
 import edu.wpi.first.math.geometry.Rotation3d;
 

src/main/java/wmironpatriots/subsystems/Swerve/module/Module.java

@@ -4,13 +4,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.module;
+package wmironpatriots.subsystems.swerve.module;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import lib.utils.MonologueUtils;
-import wmironpatriots.subsystems.Swerve.module.ModuleHardware.LoggableState;
+import wmironpatriots.subsystems.swerve.module.ModuleHardware.LoggableState;
 
 public class Module {
   private final ModuleHardware hardware;

src/main/java/wmironpatriots/subsystems/Swerve/module/ModuleHardware.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.module;
+package wmironpatriots.subsystems.swerve.module;
 
 /** Generalized hardware methods for a swerve-module's hardware */
 public interface ModuleHardware {

src/main/java/wmironpatriots/subsystems/Swerve/module/ModuleHardwareComp.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.module;
+package wmironpatriots.subsystems.swerve.module;
 
 import static edu.wpi.first.units.Units.Meters;
 
@@ -22,8 +22,8 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import lib.utils.TalonFxUtil;
-import wmironpatriots.subsystems.Swerve.SwerveConstants;
-import wmironpatriots.subsystems.Swerve.SwerveConstants.ModuleConfig;
+import wmironpatriots.subsystems.swerve.SwerveConstants;
+import wmironpatriots.subsystems.swerve.SwerveConstants.ModuleConfig;
 
 /**
  * Represents a Swerve module with the following specifications:

src/main/java/wmironpatriots/subsystems/Swerve/module/ModuleHardwareSim.java

@@ -4,7 +4,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // MIT license file in the root directory of this project
 
-package wmironpatriots.subsystems.Swerve.module;
+package wmironpatriots.subsystems.swerve.module;
 
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.Seconds;
@@ -16,8 +16,8 @@
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import wmironpatriots.Constants;
-import wmironpatriots.subsystems.Swerve.SwerveConstants;
-import wmironpatriots.subsystems.Swerve.SwerveConstants.ModuleConfig;
+import wmironpatriots.subsystems.swerve.SwerveConstants;
+import wmironpatriots.subsystems.swerve.SwerveConstants.ModuleConfig;
 
 public class ModuleHardwareSim implements ModuleHardware {
   public static final double PIVOT_REDUCTION = 150 / 7;
@@ -31,7 +31,7 @@ public class ModuleHardwareSim implements ModuleHardware {
   private final DCMotorSim pivotSim, driveSim;
   private double pivotAppliedVolts, driveAppliedVolts;
 
-  private PIDController pivotFeedback = new PIDController(50.0, 0.0, 0.0);
+  private PIDController pivotFeedback = new PIDController(100.0, 0.0, 0.0);
   private PIDController driveFeedback = new PIDController(3.2, 0.0, 0.0);
   private SimpleMotorFeedforward driveFeedforward = new SimpleMotorFeedforward(0.233, 2.02, 0.05);