diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultKeyMapController.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultKeyMapController.java
similarity index 63%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultKeyMapController.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultKeyMapController.java
index a9cd5615..3d6804a1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultKeyMapController.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultKeyMapController.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
public class DefaultKeyMapController extends KeyMapController{
@Override
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultParamsController.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultParamsController.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultParamsController.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultParamsController.java
index f9eae852..81cc53d0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/DefaultParamsController.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DefaultParamsController.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
public class DefaultParamsController extends ParamsController{
@Override
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Global.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Global.java
similarity index 68%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Global.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Global.java
index 7cc73284..5693bf2b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Global.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Global.java
@@ -1,16 +1,16 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import androidx.annotation.NonNull;
import com.qualcomm.robotcore.hardware.Gamepad;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
-import org.firstinspires.ftc.teamcode.ric.utils.ActionBox;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.utils.ActionBox;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
public final class Global {
public static Robot robot;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/KeyMapController.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/KeyMapController.java
similarity index 52%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/KeyMapController.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/KeyMapController.java
index 2a2231c6..5e1ba4c6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/KeyMapController.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/KeyMapController.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
/**
* @see Robot
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Params.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java
similarity index 95%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Params.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java
index a39e67e3..4fc76a5c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Params.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.config.Config;
-import org.firstinspires.ftc.teamcode.ric.codes.tunings.SecPowerPerInchTuner;
-import org.firstinspires.ftc.teamcode.ric.codes.tunings.ThreeInOne_DeadWheelTuner;
+import org.firstinspires.ftc.teamcode.codes.tunings.SecPowerPerInchTuner;
+import org.firstinspires.ftc.teamcode.codes.tunings.ThreeInOne_DeadWheelTuner;
@Config
public class Params {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/ParamsController.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ParamsController.java
similarity index 53%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/ParamsController.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ParamsController.java
index 17ce83ca..3d09263c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/ParamsController.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ParamsController.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
/**
* @see Robot
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/README.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/README.md
similarity index 100%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/README.md
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/README.md
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/README_CN.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/README_CN.md
similarity index 100%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/README_CN.md
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/README_CN.md
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
similarity index 80%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Robot.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
index b05d6609..1279e77f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import android.util.Log;
@@ -12,29 +12,29 @@
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.MecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderBuilder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Servos;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
-import org.firstinspires.ftc.teamcode.ric.utils.ActionBox;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.ClipPosition;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RobotState;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.DeviceDisabledException;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.UnKnownErrorsException;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.drives.controls.MecanumDrive;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderBuilder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Servos;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.Structure;
+import org.firstinspires.ftc.teamcode.hardwares.Webcam;
+import org.firstinspires.ftc.teamcode.utils.ActionBox;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.hardwares.basic.ClipPosition;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.utils.enums.RobotState;
+import org.firstinspires.ftc.teamcode.utils.exceptions.DeviceDisabledException;
+import org.firstinspires.ftc.teamcode.utils.exceptions.UnKnownErrorsException;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.utils.Timer;
public class Robot {
public IntegrationHardwareMap lazyIntegratedDevices;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/RoboticActions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RoboticActions.java
similarity index 57%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/RoboticActions.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RoboticActions.java
index 5b576691..2ebeaebc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/RoboticActions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RoboticActions.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric;
+package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.hardware.HardwareMap;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
@Deprecated
public class RoboticActions extends Robot{
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/ClipOptionAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/ClipOptionAction.java
similarity index 80%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/ClipOptionAction.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/ClipOptionAction.java
index 8b6ee4d0..bea52633 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/ClipOptionAction.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/ClipOptionAction.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.actions;
+package org.firstinspires.ftc.teamcode.actions;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.ClipPosition;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Servos;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.hardwares.basic.ClipPosition;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Servos;
+import org.firstinspires.ftc.teamcode.hardwares.Structure;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
@Deprecated
public class ClipOptionAction implements Action {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/MotorControllerAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/MotorControllerAction.java
similarity index 81%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/MotorControllerAction.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/MotorControllerAction.java
index fafaa9cc..f7344d2c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/MotorControllerAction.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/MotorControllerAction.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.actions;
+package org.firstinspires.ftc.teamcode.actions;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.PositionalIntegrationMotor;
+import org.firstinspires.ftc.teamcode.hardwares.integration.PositionalIntegrationMotor;
public class MotorControllerAction implements Action {
private final PositionalIntegrationMotor motor;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/StructureActions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/StructureActions.java
similarity index 89%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/StructureActions.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/StructureActions.java
index 821d20cc..e22a925b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/actions/StructureActions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/actions/StructureActions.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.actions;
+package org.firstinspires.ftc.teamcode.actions;
import androidx.annotation.NonNull;
@@ -6,9 +6,9 @@
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ParallelAction;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationServo;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationServo;
+import org.firstinspires.ftc.teamcode.hardwares.Structure;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
public class StructureActions {
public Structure controller;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/AutonomousSample2024.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/AutonomousSample2024.java
similarity index 77%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/AutonomousSample2024.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/AutonomousSample2024.java
index 9cc5d44e..810c72b8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/AutonomousSample2024.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/AutonomousSample2024.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.commands.DriveCommandPackage;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.AutonomousLocation;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.drives.controls.commands.DriveCommandPackage;
+import org.firstinspires.ftc.teamcode.hardwares.Webcam;
+import org.firstinspires.ftc.teamcode.utils.enums.AutonomousLocation;
/**
* A sample of 2023-2024 season basic Autonomous.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CameraDetection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CameraDetection.java
similarity index 87%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CameraDetection.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CameraDetection.java
index 5208b10e..0b187e9c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CameraDetection.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CameraDetection.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Camera;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Camera;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ClientUsage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ClientUsage.java
similarity index 89%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ClientUsage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ClientUsage.java
index 5af694db..37d1d95d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ClientUsage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ClientUsage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
@@ -6,8 +6,8 @@
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
@TeleOp(name = "ClientUsage",group = Params.Configs.SampleOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CompareTelemetryAndClient.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CompareTelemetryAndClient.java
similarity index 88%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CompareTelemetryAndClient.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CompareTelemetryAndClient.java
index 25ba5ed7..c19e41b5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/CompareTelemetryAndClient.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/CompareTelemetryAndClient.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Beta;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.Beta;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
/**
* 用于演示 Telemetry 和 Client 的区别
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample.java
similarity index 70%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample.java
index c54a87c6..4e9ae39e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;
@TeleOp(name = "ManualCodeSample",group = Params.Configs.SampleOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample2.java
similarity index 73%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample2.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample2.java
index 0e4591ee..32b52f77 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualCodeSample2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualCodeSample2.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;
@TeleOp(name = "ManualCodeSample2",group = Params.Configs.SampleOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualDriveSample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualDriveSample.java
similarity index 67%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualDriveSample.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualDriveSample.java
index a16c7339..d3d4c674 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/ManualDriveSample.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/ManualDriveSample.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
@TeleOp(name = "ManualDriveSample",group = Params.Configs.SampleOpModesGroup)
public class ManualDriveSample extends TeleopProgramTemplate {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/WebcamDetection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/WebcamDetection.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/WebcamDetection.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/WebcamDetection.java
index 5a14d8e1..3c41f7d9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/samples/WebcamDetection.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/samples/WebcamDetection.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.codes.samples;
+package org.firstinspires.ftc.teamcode.codes.samples;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.Webcam;
@Disabled
@Autonomous (name = "WebcamDetection",group = Params.Configs.SampleOpModesGroup)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/AutonomousProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/AutonomousProgramTemplate.java
similarity index 69%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/AutonomousProgramTemplate.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/AutonomousProgramTemplate.java
index 2ea383ac..edfabb77 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/AutonomousProgramTemplate.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/AutonomousProgramTemplate.java
@@ -1,16 +1,16 @@
-package org.firstinspires.ftc.teamcode.ric.codes.templates;
+package org.firstinspires.ftc.teamcode.codes.templates;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.codes.samples.AutonomousSample2024;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.codes.samples.AutonomousSample2024;
+import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
/**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/DebugProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/DebugProgramTemplate.java
similarity index 65%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/DebugProgramTemplate.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/DebugProgramTemplate.java
index 2cadaa01..d4efcc07 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/DebugProgramTemplate.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/DebugProgramTemplate.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.codes.templates;
+package org.firstinspires.ftc.teamcode.codes.templates;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.Timer;
@Templates
public abstract class DebugProgramTemplate extends OpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TeleopProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TeleopProgramTemplate.java
similarity index 70%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TeleopProgramTemplate.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TeleopProgramTemplate.java
index d293e08e..2f5a9bc1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TeleopProgramTemplate.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TeleopProgramTemplate.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.codes.templates;
+package org.firstinspires.ftc.teamcode.codes.templates;
import android.util.Log;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UtilFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.annotations.UtilFunctions;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.utils.Timer;
@Templates
public abstract class TeleopProgramTemplate extends OpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TestProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TestProgramTemplate.java
similarity index 67%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TestProgramTemplate.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TestProgramTemplate.java
index 7f25b209..55283303 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TestProgramTemplate.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TestProgramTemplate.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.codes.templates;
+package org.firstinspires.ftc.teamcode.codes.templates;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
@Templates
public abstract class TestProgramTemplate extends LinearOpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TuningProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TuningProgramTemplate.java
new file mode 100644
index 00000000..ef816359
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/templates/TuningProgramTemplate.java
@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.codes.templates;
+
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.utils.Timer;
+
+@Templates
+public abstract class TuningProgramTemplate extends TeleopProgramTemplate{
+ public Client client;
+
+ @Override
+ public void init() {
+ Global.clear();
+ robot=new Robot(hardwareMap, RunningMode.TestOrTune,telemetry);
+ timer=new Timer();
+ client=robot.client;
+ whenInit();
+ }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/AxialInchPerTickTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/AxialInchPerTickTest.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/AxialInchPerTickTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/AxialInchPerTickTest.java
index 65642964..a33f63a6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/AxialInchPerTickTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/AxialInchPerTickTest.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
@TeleOp(name = "AxialInchPerTickTest",group = Params.Configs.TuningAndTuneOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ChassisTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ChassisTest.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ChassisTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ChassisTest.java
index a2b94a84..186588bc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ChassisTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ChassisTest.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
+import org.firstinspires.ftc.teamcode.Params;
/**
* @see ChassisTest
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelEncoders.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelEncoders.java
similarity index 75%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelEncoders.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelEncoders.java
index 6935fab8..62efe38d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelEncoders.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelEncoders.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
@TeleOp(name = "DeadWheelEncoders_Test",group = Params.Configs.TuningAndTuneOpModesGroup)
@Deprecated
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelTest.blk b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelTest.blk
similarity index 100%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelTest.blk
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelTest.blk
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelTest.java
similarity index 94%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelTest.java
index d2ed8b6e..cfd3cac3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/DeadWheelTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/DeadWheelTest.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
-import org.firstinspires.ftc.teamcode.ric.Params;
+import org.firstinspires.ftc.teamcode.Params;
@TeleOp(name = "DeadWheelTest (Blocks to Java)",group = Params.Configs.TuningAndTuneOpModesGroup)
public class DeadWheelTest extends LinearOpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/IntegrationGamepadTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/IntegrationGamepadTest.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/IntegrationGamepadTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/IntegrationGamepadTest.java
index d735af4b..8d5f8de2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/IntegrationGamepadTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/IntegrationGamepadTest.java
@@ -1,14 +1,14 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
import java.util.Objects;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/KeyMapTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/KeyMapTest.java
similarity index 63%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/KeyMapTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/KeyMapTest.java
index e3ec7c00..2678c47f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/KeyMapTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/KeyMapTest.java
@@ -1,17 +1,17 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMapButtonContent;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMapContent;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMapRodContent;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.keymap.KeyMapButtonContent;
+import org.firstinspires.ftc.teamcode.keymap.KeyMapContent;
+import org.firstinspires.ftc.teamcode.keymap.KeyMapRodContent;
import java.util.Map;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/LateralInchPerTickTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/LateralInchPerTickTest.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/LateralInchPerTickTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/LateralInchPerTickTest.java
index 2e549ca0..ed311b1d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/LateralInchPerTickTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/LateralInchPerTickTest.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
@TeleOp(name = "LateralInchPerTickTest",group = Params.Configs.TuningAndTuneOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorReverseTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorReverseTest.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorReverseTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorReverseTest.java
index 2141e106..0d32335c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorReverseTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorReverseTest.java
@@ -1,16 +1,16 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationMotor;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationMotor;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
@TeleOp(name = "MotorReverseTest",group = Params.Configs.TuningAndTuneOpModesGroup)
public class MotorReverseTest extends TuningProgramTemplate {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorsTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorsTest.java
similarity index 77%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorsTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorsTest.java
index 1b20253c..ee59a1ed 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MotorsTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MotorsTest.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotorEx;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationMotor;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationMotor;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
/**
* done
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MultiOdometriesTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MultiOdometriesTest.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MultiOdometriesTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MultiOdometriesTest.java
index 66b565e8..ee59cc64 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/MultiOdometriesTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/MultiOdometriesTest.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import androidx.annotation.NonNull;
@@ -6,21 +6,21 @@
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.ArcOrganizedOdometer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.ClassicOdometer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.IntegralOrganizedOdometer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.Odometry;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.SuperRubbishUselessAwfulOdometer;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.DashboardClient;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.ArcOrganizedOdometer;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.ClassicOdometer;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.IntegralOrganizedOdometer;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.Odometry;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.SuperRubbishUselessAwfulOdometer;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.clients.DashboardClient;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
@TeleOp(name = "MultiOdometriesTest",group = Params.Configs.TuningAndTuneOpModesGroup)
public class MultiOdometriesTest extends OpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SecPowerPerInchTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SecPowerPerInchTuner.java
similarity index 86%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SecPowerPerInchTuner.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SecPowerPerInchTuner.java
index d558e275..d5c1dd5d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SecPowerPerInchTuner.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SecPowerPerInchTuner.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import androidx.annotation.NonNull;
@@ -8,12 +8,12 @@
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.utils.Timer;
@TeleOp(name = "SecPowerPerInchTuner",group = Params.Configs.TuningAndTuneOpModesGroup)
public class SecPowerPerInchTuner extends TuningProgramTemplate {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SimpleMecanumDriveTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SimpleMecanumDriveTest.java
similarity index 63%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SimpleMecanumDriveTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SimpleMecanumDriveTest.java
index 29ec71f7..cd989f5a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/SimpleMecanumDriveTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/SimpleMecanumDriveTest.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TestProgramTemplate;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.commands.DriveCommandPackage;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TestProgramTemplate;
+import org.firstinspires.ftc.teamcode.drives.controls.commands.DriveCommandPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
@TeleOp(name = "SimpleMecanumDrive_Test",group = Params.Configs.TuningAndTuneOpModesGroup)
public class SimpleMecanumDriveTest extends TestProgramTemplate {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ThreeInOne_DeadWheelTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ThreeInOne_DeadWheelTuner.java
similarity index 88%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ThreeInOne_DeadWheelTuner.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ThreeInOne_DeadWheelTuner.java
index 4acb80b0..50fc6ad5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/ThreeInOne_DeadWheelTuner.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/ThreeInOne_DeadWheelTuner.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.TuningProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.TuningProgramTemplate;
@TeleOp(name = "[3 in one!]DeadWheelTuner",group = Params.Configs.TuningAndTuneOpModesGroup)
public class ThreeInOne_DeadWheelTuner extends TuningProgramTemplate {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/TurningDegPerTickTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/TurningDegPerTickTest.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/TurningDegPerTickTest.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/TurningDegPerTickTest.java
index 6d30f7ae..a3373ab0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/tunings/TurningDegPerTickTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/codes/tunings/TurningDegPerTickTest.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.codes.tunings;
+package org.firstinspires.ftc.teamcode.codes.tunings;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
@TeleOp(name = "TurningDegPerTickTest",group = Params.Configs.TuningAndTuneOpModesGroup)
@Disabled
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/MecanumDrive.java
similarity index 78%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/MecanumDrive.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/MecanumDrive.java
index d2ea5014..148f3eca 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/MecanumDrive.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls;
+package org.firstinspires.ftc.teamcode.drives.controls;
-import static org.firstinspires.ftc.teamcode.ric.Params.aem;
-import static org.firstinspires.ftc.teamcode.ric.Params.pem;
-import static org.firstinspires.ftc.teamcode.ric.Params.timeOutProtectionMills;
-import static org.firstinspires.ftc.teamcode.ric.utils.clients.DashboardClient.Blue;
+import static org.firstinspires.ftc.teamcode.Params.aem;
+import static org.firstinspires.ftc.teamcode.Params.pem;
+import static org.firstinspires.ftc.teamcode.Params.timeOutProtectionMills;
+import static org.firstinspires.ftc.teamcode.utils.clients.DashboardClient.Blue;
import androidx.annotation.NonNull;
@@ -14,26 +14,26 @@
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.actions.DriveAction;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.actions.DriveActionBuilder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.definition.Localizer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.plugins.DeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidContent;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.DrivingPrograms;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.DashboardClient;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RobotState;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.drives.controls.actions.DriveAction;
+import org.firstinspires.ftc.teamcode.drives.controls.actions.DriveActionBuilder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.drives.localizers.definition.Localizer;
+import org.firstinspires.ftc.teamcode.drives.localizers.plugins.DeadWheelLocalizer;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.PID.PidContent;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.utils.Timer;
+import org.firstinspires.ftc.teamcode.utils.annotations.DrivingPrograms;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.clients.DashboardClient;
+import org.firstinspires.ftc.teamcode.utils.enums.RobotState;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/SimpleMecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/SimpleMecanumDrive.java
similarity index 79%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/SimpleMecanumDrive.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/SimpleMecanumDrive.java
index 200ea63d..11902a75 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/SimpleMecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/SimpleMecanumDrive.java
@@ -1,34 +1,34 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls;
+package org.firstinspires.ftc.teamcode.drives.controls;
-import static org.firstinspires.ftc.teamcode.ric.Params.aem;
-import static org.firstinspires.ftc.teamcode.ric.Params.pem;
-import static org.firstinspires.ftc.teamcode.ric.Params.timeOutProtectionMills;
-import static org.firstinspires.ftc.teamcode.ric.utils.clients.DashboardClient.Blue;
+import static org.firstinspires.ftc.teamcode.Params.aem;
+import static org.firstinspires.ftc.teamcode.Params.pem;
+import static org.firstinspires.ftc.teamcode.Params.timeOutProtectionMills;
+import static org.firstinspires.ftc.teamcode.utils.clients.DashboardClient.Blue;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.commands.DriveCommand;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.commands.DrivingCommandsBuilder;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.definition.Localizer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.plugins.DeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.DrivingPrograms;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RobotState;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidContent;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.drives.controls.commands.DriveCommand;
+import org.firstinspires.ftc.teamcode.drives.controls.commands.DrivingCommandsBuilder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.drives.localizers.definition.Localizer;
+import org.firstinspires.ftc.teamcode.drives.localizers.plugins.DeadWheelLocalizer;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.utils.annotations.DrivingPrograms;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.enums.RobotState;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.PID.PidContent;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.utils.Timer;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/TrajectoryType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/TrajectoryType.java
similarity index 64%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/TrajectoryType.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/TrajectoryType.java
index cbc05567..e7bcbbba 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/TrajectoryType.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/TrajectoryType.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls;
+package org.firstinspires.ftc.teamcode.drives.controls;
public enum TrajectoryType {
LinerStrafe,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveAction.java
similarity index 81%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveAction.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveAction.java
index 8860b9c0..fcb6710c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveAction.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveAction.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.actions;
+package org.firstinspires.ftc.teamcode.drives.controls.actions;
import androidx.annotation.NonNull;
@@ -9,15 +9,15 @@
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.MecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.Complex;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.TrajectoryType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.DriveDirection;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.drives.controls.MecanumDrive;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.Complex;
+import org.firstinspires.ftc.teamcode.drives.controls.TrajectoryType;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.DriveDirection;
+import org.firstinspires.ftc.teamcode.utils.Functions;
public class DriveAction implements DriveOrder {
private final Chassis chassis;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionBuilder.java
similarity index 82%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionBuilder.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionBuilder.java
index 77327ae9..ac842e06 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionBuilder.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionBuilder.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.actions;
+package org.firstinspires.ftc.teamcode.drives.controls.actions;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.MecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderBuilder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.TrajectoryType;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.drives.controls.MecanumDrive;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderBuilder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.drives.controls.TrajectoryType;
+import org.firstinspires.ftc.teamcode.utils.Functions;
public class DriveActionBuilder implements DriveOrderBuilder {
private final DriveActionPackage actionPackage;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionPackage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionPackage.java
similarity index 61%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionPackage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionPackage.java
index 398832dc..8e3704ef 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/actions/DriveActionPackage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/actions/DriveActionPackage.java
@@ -1,7 +1,7 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.actions;
+package org.firstinspires.ftc.teamcode.drives.controls.actions;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommand.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommand.java
similarity index 84%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommand.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommand.java
index c1f1ca70..ced0ca12 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommand.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommand.java
@@ -1,16 +1,16 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.commands;
+package org.firstinspires.ftc.teamcode.drives.controls.commands;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.TrajectoryType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.utils.Complex;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.DriveDirection;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.TrajectoryType;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.utils.Complex;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.DriveDirection;
+import org.firstinspires.ftc.teamcode.utils.Functions;
public class DriveCommand implements DriveOrder {
private final Chassis chassis;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommandPackage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommandPackage.java
similarity index 64%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommandPackage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommandPackage.java
index c9185561..b3e1c833 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DriveCommandPackage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DriveCommandPackage.java
@@ -1,7 +1,7 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.commands;
+package org.firstinspires.ftc.teamcode.drives.controls.commands;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderPackage;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderPackage;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DrivingCommandsBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DrivingCommandsBuilder.java
similarity index 84%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DrivingCommandsBuilder.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DrivingCommandsBuilder.java
index 9c72e0eb..e7f411d8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/commands/DrivingCommandsBuilder.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/commands/DrivingCommandsBuilder.java
@@ -1,14 +1,14 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.commands;
+package org.firstinspires.ftc.teamcode.drives.controls.commands;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderBuilder;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.TrajectoryType;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderBuilder;
+import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
+import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
+import org.firstinspires.ftc.teamcode.drives.controls.TrajectoryType;
+import org.firstinspires.ftc.teamcode.utils.Functions;
public class DrivingCommandsBuilder implements DriveOrderBuilder {
private final DriveCommandPackage commandPackage;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrder.java
similarity index 88%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrder.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrder.java
index f239e896..19489b79 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrder.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrder.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.definition;
+package org.firstinspires.ftc.teamcode.drives.controls.definition;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.drives.controls.TrajectoryType;
+import org.firstinspires.ftc.teamcode.drives.controls.TrajectoryType;
public interface DriveOrder {
/**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderBuilder.java
similarity index 93%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderBuilder.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderBuilder.java
index 39933fe3..7b729e67 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderBuilder.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderBuilder.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.definition;
+package org.firstinspires.ftc.teamcode.drives.controls.definition;
import com.acmerobotics.roadrunner.Vector2d;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderPackage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderPackage.java
similarity index 59%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderPackage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderPackage.java
index 6a57a90b..e1d640f6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriveOrderPackage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriveOrderPackage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.definition;
+package org.firstinspires.ftc.teamcode.drives.controls.definition;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriverProgram.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriverProgram.java
similarity index 73%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriverProgram.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriverProgram.java
index 445747f8..5105c4c0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/controls/definition/DriverProgram.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/controls/definition/DriverProgram.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.drives.controls.definition;
+package org.firstinspires.ftc.teamcode.drives.controls.definition;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
import java.util.LinkedList;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/HeadingLocalizerPlugin.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/HeadingLocalizerPlugin.java
similarity index 56%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/HeadingLocalizerPlugin.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/HeadingLocalizerPlugin.java
index 13dc329c..9cefe582 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/HeadingLocalizerPlugin.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/HeadingLocalizerPlugin.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
public interface HeadingLocalizerPlugin extends LocalizerPlugin{
double getHeadingDeg();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/Localizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/Localizer.java
similarity index 65%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/Localizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/Localizer.java
index 7658966d..45363616 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/Localizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/Localizer.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
import com.acmerobotics.roadrunner.Pose2d;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/LocalizerPlugin.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/LocalizerPlugin.java
new file mode 100644
index 00000000..e3437534
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/LocalizerPlugin.java
@@ -0,0 +1,3 @@
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
+
+public interface LocalizerPlugin extends Localizer{}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/PositionLocalizerPlugin.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/PositionLocalizerPlugin.java
similarity index 65%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/PositionLocalizerPlugin.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/PositionLocalizerPlugin.java
index b288a230..9fb06910 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/PositionLocalizerPlugin.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/PositionLocalizerPlugin.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
import com.acmerobotics.roadrunner.Pose2d;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/SubassemblyLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/SubassemblyLocalizer.java
similarity index 90%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/SubassemblyLocalizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/SubassemblyLocalizer.java
index ba91ead3..34cfb269 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/SubassemblyLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/SubassemblyLocalizer.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.LocalizationPlugin;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.UnKnownErrorsException;
+import org.firstinspires.ftc.teamcode.utils.annotations.LocalizationPlugin;
+import org.firstinspires.ftc.teamcode.utils.exceptions.UnKnownErrorsException;
@LocalizationPlugin
@Deprecated
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/VectorPositionLocalizerPlugin.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/VectorPositionLocalizerPlugin.java
similarity index 79%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/VectorPositionLocalizerPlugin.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/VectorPositionLocalizerPlugin.java
index c804f1d7..19c967f1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/VectorPositionLocalizerPlugin.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/definition/VectorPositionLocalizerPlugin.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
+package org.firstinspires.ftc.teamcode.drives.localizers.definition;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/ConstantAccelMath.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/ConstantAccelMath.java
similarity index 92%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/ConstantAccelMath.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/ConstantAccelMath.java
index 6d33b403..40f56e72 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/ConstantAccelMath.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/ConstantAccelMath.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.mathematics;
+package org.firstinspires.ftc.teamcode.drives.localizers.mathematics;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.utils.Position2d;
+import org.firstinspires.ftc.teamcode.utils.Position2d;
public class ConstantAccelMath {
public static final double FIDELITY = 1E-8;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/IntegralAutoCorrection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/IntegralAutoCorrection.java
similarity index 96%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/IntegralAutoCorrection.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/IntegralAutoCorrection.java
index f5b6b6db..6920d055 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/mathematics/IntegralAutoCorrection.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/mathematics/IntegralAutoCorrection.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.mathematics;
+package org.firstinspires.ftc.teamcode.drives.localizers.mathematics;
/**
* 详见此处
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ArcOrganizedOdometer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ArcOrganizedOdometer.java
similarity index 85%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ArcOrganizedOdometer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ArcOrganizedOdometer.java
index 37f14cd1..a404ab5a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ArcOrganizedOdometer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ArcOrganizedOdometer.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries;
+package org.firstinspires.ftc.teamcode.drives.localizers.odometries;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.OdometerPrograms;
+import org.firstinspires.ftc.teamcode.utils.annotations.OdometerPrograms;
@OdometerPrograms
public class ArcOrganizedOdometer extends ClassicOdometer implements Odometry{
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ClassicOdometer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ClassicOdometer.java
similarity index 84%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ClassicOdometer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ClassicOdometer.java
index 0e367c79..907b1e53 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/ClassicOdometer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/ClassicOdometer.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries;
+package org.firstinspires.ftc.teamcode.drives.localizers.odometries;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.OdometerPrograms;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.utils.annotations.OdometerPrograms;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.Functions;
import java.util.Vector;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/IntegralOrganizedOdometer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/IntegralOrganizedOdometer.java
similarity index 81%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/IntegralOrganizedOdometer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/IntegralOrganizedOdometer.java
index 284d4704..e03c7cab 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/IntegralOrganizedOdometer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/IntegralOrganizedOdometer.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries;
+package org.firstinspires.ftc.teamcode.drives.localizers.odometries;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.mathematics.ConstantAccelMath;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.OdometerPrograms;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.Position2d;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
+import org.firstinspires.ftc.teamcode.drives.localizers.mathematics.ConstantAccelMath;
+import org.firstinspires.ftc.teamcode.utils.annotations.OdometerPrograms;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.Position2d;
+import org.firstinspires.ftc.teamcode.utils.Timer;
import java.util.Vector;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/Odometry.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/Odometry.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/Odometry.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/Odometry.java
index 7f39a53f..e413ebf5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/Odometry.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/Odometry.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries;
+package org.firstinspires.ftc.teamcode.drives.localizers.odometries;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UtilFunctions;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.annotations.UtilFunctions;
public interface Odometry {
/**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java
similarity index 78%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java
index e754741e..c226c0d8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/odometries/SuperRubbishUselessAwfulOdometer.java
@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries;
+package org.firstinspires.ftc.teamcode.drives.localizers.odometries;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.OdometerPrograms;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.utils.annotations.OdometerPrograms;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
@OdometerPrograms
public class SuperRubbishUselessAwfulOdometer implements Odometry{
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNODeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNODeadWheelLocalizer.java
similarity index 58%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNODeadWheelLocalizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNODeadWheelLocalizer.java
index 15155241..989f9881 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNODeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNODeadWheelLocalizer.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.plugins;
+package org.firstinspires.ftc.teamcode.drives.localizers.plugins;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.definition.PositionLocalizerPlugin;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.LocalizationPlugin;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
+import org.firstinspires.ftc.teamcode.drives.localizers.definition.PositionLocalizerPlugin;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
+import org.firstinspires.ftc.teamcode.utils.annotations.LocalizationPlugin;
+import org.firstinspires.ftc.teamcode.utils.clients.Client;
/**
* 使用imu获取机器的角度
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNOHeadingLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNOHeadingLocalizer.java
similarity index 54%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNOHeadingLocalizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNOHeadingLocalizer.java
index 1ea164f4..6b93a3e3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/BNOHeadingLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/BNOHeadingLocalizer.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.plugins;
+package org.firstinspires.ftc.teamcode.drives.localizers.plugins;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.definition.HeadingLocalizerPlugin;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.LocalizationPlugin;
+import org.firstinspires.ftc.teamcode.drives.localizers.definition.HeadingLocalizerPlugin;
+import org.firstinspires.ftc.teamcode.hardwares.Chassis;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
+import org.firstinspires.ftc.teamcode.utils.annotations.LocalizationPlugin;
@LocalizationPlugin
public class BNOHeadingLocalizer implements HeadingLocalizerPlugin {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/DeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/DeadWheelLocalizer.java
similarity index 57%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/DeadWheelLocalizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/DeadWheelLocalizer.java
index 01c87524..f8e3c8dc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/plugins/DeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drives/localizers/plugins/DeadWheelLocalizer.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.plugins;
+package org.firstinspires.ftc.teamcode.drives.localizers.plugins;
import com.acmerobotics.roadrunner.Pose2d;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.definition.PositionLocalizerPlugin;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.ArcOrganizedOdometer;
-import org.firstinspires.ftc.teamcode.ric.drives.localizers.odometries.Odometry;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.LocalizationPlugin;
+import org.firstinspires.ftc.teamcode.drives.localizers.definition.PositionLocalizerPlugin;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.ArcOrganizedOdometer;
+import org.firstinspires.ftc.teamcode.drives.localizers.odometries.Odometry;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.LocalizationPlugin;
@LocalizationPlugin
public class DeadWheelLocalizer implements PositionLocalizerPlugin {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Chassis.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Chassis.java
similarity index 83%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Chassis.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Chassis.java
index 09c6d2e6..fc9c9300 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Chassis.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Chassis.java
@@ -1,21 +1,21 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares;
+package org.firstinspires.ftc.teamcode.hardwares;
-import static org.firstinspires.ftc.teamcode.ric.Params.Configs;
-import static org.firstinspires.ftc.teamcode.ric.Params.factorHeadingPower;
-import static org.firstinspires.ftc.teamcode.ric.Params.factorXPower;
-import static org.firstinspires.ftc.teamcode.ric.Params.factorYPower;
+import static org.firstinspires.ftc.teamcode.Params.Configs;
+import static org.firstinspires.ftc.teamcode.Params.factorHeadingPower;
+import static org.firstinspires.ftc.teamcode.Params.factorXPower;
+import static org.firstinspires.ftc.teamcode.Params.factorYPower;
import android.util.Log;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.DriveDirection;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.Quadrant;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.DriveDirection;
+import org.firstinspires.ftc.teamcode.utils.enums.Quadrant;
+import org.firstinspires.ftc.teamcode.utils.Functions;
public class Chassis {
public Motors motors;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/LiftPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/LiftPosition.java
new file mode 100644
index 00000000..6a61bbde
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/LiftPosition.java
@@ -0,0 +1,7 @@
+package org.firstinspires.ftc.teamcode.hardwares;
+
+public enum LiftPosition {
+ IDLE,
+ Low,
+ High
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Structure.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Structure.java
similarity index 71%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Structure.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Structure.java
index 7ac90e78..79ed99dc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Structure.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Structure.java
@@ -1,26 +1,26 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares;
+package org.firstinspires.ftc.teamcode.hardwares;
-import static org.firstinspires.ftc.teamcode.ric.Params.PositionalMotorConfigs.HighPlacement;
-import static org.firstinspires.ftc.teamcode.ric.Params.PositionalMotorConfigs.IDLEPlacement;
-import static org.firstinspires.ftc.teamcode.ric.Params.PositionalMotorConfigs.LowPlacement;
-import static org.firstinspires.ftc.teamcode.ric.Params.factorIntakePower;
-import static org.firstinspires.ftc.teamcode.ric.Params.factorSuspensionArmPower;
+import static org.firstinspires.ftc.teamcode.Params.PositionalMotorConfigs.HighPlacement;
+import static org.firstinspires.ftc.teamcode.Params.PositionalMotorConfigs.IDLEPlacement;
+import static org.firstinspires.ftc.teamcode.Params.PositionalMotorConfigs.LowPlacement;
+import static org.firstinspires.ftc.teamcode.Params.factorIntakePower;
+import static org.firstinspires.ftc.teamcode.Params.factorSuspensionArmPower;
import androidx.annotation.NonNull;
import com.acmerobotics.roadrunner.Action;
-import org.firstinspires.ftc.teamcode.ric.actions.MotorControllerAction;
-import org.firstinspires.ftc.teamcode.ric.actions.StructureActions;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.ClipPosition;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Servos;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.UnKnownErrorsException;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Servos;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.actions.MotorControllerAction;
+import org.firstinspires.ftc.teamcode.actions.StructureActions;
+import org.firstinspires.ftc.teamcode.hardwares.basic.ClipPosition;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.exceptions.UnKnownErrorsException;
public class Structure {
public Motors motors;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Webcam.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Webcam.java
similarity index 84%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Webcam.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Webcam.java
index bba93d60..bb8e5a9b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/Webcam.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/Webcam.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares;
+package org.firstinspires.ftc.teamcode.hardwares;
import androidx.annotation.NonNull;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.teamcode.ric.codes.samples.CameraDetection;
-import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Camera;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.AutonomousLocation;
+import org.firstinspires.ftc.teamcode.codes.samples.CameraDetection;
+import org.firstinspires.ftc.teamcode.hardwares.basic.Camera;
+import org.firstinspires.ftc.teamcode.utils.enums.AutonomousLocation;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Camera.java
similarity index 95%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Camera.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Camera.java
index 812e88b9..6edfc427 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Camera.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Camera.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.basic;
+package org.firstinspires.ftc.teamcode.hardwares.basic;
import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.ric.codes.samples.CameraDetection;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.AutonomousLocation;
+import org.firstinspires.ftc.teamcode.codes.samples.CameraDetection;
+import org.firstinspires.ftc.teamcode.utils.enums.AutonomousLocation;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.Point;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/ClipPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/ClipPosition.java
new file mode 100644
index 00000000..13a15731
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/ClipPosition.java
@@ -0,0 +1,6 @@
+package org.firstinspires.ftc.teamcode.hardwares.basic;
+
+public enum ClipPosition {
+ Open,
+ Close
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Motors.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Motors.java
similarity index 80%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Motors.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Motors.java
index a138fc24..bee35bb9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Motors.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Motors.java
@@ -1,24 +1,24 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.basic;
+package org.firstinspires.ftc.teamcode.hardwares.basic;
-import static org.firstinspires.ftc.teamcode.ric.Global.client;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.Intake;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.LeftFront;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.LeftRear;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.PlacementArm;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RightFront;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RightRear;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.SuspensionArm;
+import static org.firstinspires.ftc.teamcode.Global.client;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.Intake;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.LeftFront;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.LeftRear;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.PlacementArm;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RightFront;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RightRear;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.SuspensionArm;
import com.acmerobotics.roadrunner.Vector2d;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationMotor;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.PositionalIntegrationMotor;
-import org.firstinspires.ftc.teamcode.ric.utils.Complex;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.Mathematics;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.DeviceDisabledException;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationMotor;
+import org.firstinspires.ftc.teamcode.hardwares.integration.PositionalIntegrationMotor;
+import org.firstinspires.ftc.teamcode.utils.Complex;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.Mathematics;
+import org.firstinspires.ftc.teamcode.utils.exceptions.DeviceDisabledException;
public class Motors {
public IntegrationHardwareMap hardware;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Sensors.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Sensors.java
similarity index 70%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Sensors.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Sensors.java
index ca99e62a..5aa4f7e3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Sensors.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Sensors.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.basic;
+package org.firstinspires.ftc.teamcode.hardwares.basic;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors.IntegrationBNO055;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors.IntegrationDeadWheelEncoders;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.sensors.IntegrationBNO055;
+import org.firstinspires.ftc.teamcode.hardwares.integration.sensors.IntegrationDeadWheelEncoders;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
public class Sensors {
/** BNO055IMU 比 IMU 的稳定性更好
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Servos.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Servos.java
similarity index 64%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Servos.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Servos.java
index cb41e886..27cab4f6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/Servos.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/basic/Servos.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.basic;
+package org.firstinspires.ftc.teamcode.hardwares.basic;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.FrontClip;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RearClip;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.FrontClip;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RearClip;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
public class Servos {
public IntegrationHardwareMap hardware;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationDevice.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationDevice.java
similarity index 83%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationDevice.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationDevice.java
index a280f30a..5fa7556f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationDevice.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationDevice.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
public abstract class IntegrationDevice implements Integrations{
public final String name;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationGamepad.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationGamepad.java
similarity index 73%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationGamepad.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationGamepad.java
index 1f026e9c..747b50f4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationGamepad.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationGamepad.java
@@ -1,13 +1,13 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
import com.qualcomm.robotcore.hardware.Gamepad;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.BasicIntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
-import org.firstinspires.ftc.teamcode.ric.keymap.KeyMapButtonContent;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.BasicIntegrationGamepad;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.keymap.KeyMap;
+import org.firstinspires.ftc.teamcode.keymap.KeyMapButtonContent;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
public class IntegrationGamepad {
public BasicIntegrationGamepad gamepad1,gamepad2;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationHardwareMap.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationHardwareMap.java
similarity index 78%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationHardwareMap.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationHardwareMap.java
index f675bbb6..c2e32002 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationHardwareMap.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationHardwareMap.java
@@ -1,15 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
import static com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.DeviceConfigPackage.Direction.Reversed;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.Intake;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.LeftDeadWheel;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.LeftFront;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.LeftRear;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.MiddleDeadWheel;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RightDeadWheel;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RightFront;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes.RightRear;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.DeviceConfigPackage.Direction.Reversed;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.Intake;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.LeftDeadWheel;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.LeftFront;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.LeftRear;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.MiddleDeadWheel;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RightDeadWheel;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RightFront;
+import static org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes.RightRear;
import androidx.annotation.NonNull;
@@ -19,17 +19,17 @@
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors.IntegrationBNO055;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors.IntegrationDeadWheelEncoders;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.CustomizedHardwareRegisterOptions;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareState;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.DeviceDisabledException;
-import org.firstinspires.ftc.teamcode.ric.utils.exceptions.DeviceNotFoundException;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.hardwares.integration.sensors.IntegrationBNO055;
+import org.firstinspires.ftc.teamcode.hardwares.integration.sensors.IntegrationDeadWheelEncoders;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareState;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.CustomizedHardwareRegisterOptions;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.exceptions.DeviceDisabledException;
+import org.firstinspires.ftc.teamcode.utils.exceptions.DeviceNotFoundException;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
import java.util.HashMap;
import java.util.HashSet;
@@ -67,7 +67,7 @@ public IntegrationHardwareMap(@NonNull HardwareMap map,PidProcessor processor){
}
public void loadHardwareObject(@NonNull HardwareDeviceTypes device){
- if(device.config.state==HardwareState.Disabled)return;
+ if(device.config.state== HardwareState.Disabled)return;
if (device.classType == DcMotor.class || device.classType == DcMotorEx.class) {
DcMotorEx motor= lazyHardwareMap.get(DcMotorEx.class,device.deviceName);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationMotor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationMotor.java
similarity index 82%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationMotor.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationMotor.java
index ac5c689a..029bb5ae 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationMotor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationMotor.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
import static com.qualcomm.robotcore.hardware.DcMotorSimple.Direction.*;
@@ -6,15 +6,15 @@
import com.qualcomm.robotcore.hardware.DcMotorEx;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidContent;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Beta;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.PID.PidContent;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.utils.annotations.Beta;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
public class IntegrationMotor extends IntegrationDevice{
private boolean PID_ENABLED = false;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationServo.java
similarity index 85%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationServo.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationServo.java
index 91e752b4..49e9eb2c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/IntegrationServo.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/IntegrationServo.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
import android.util.Log;
@@ -6,11 +6,11 @@
import com.qualcomm.robotcore.hardware.Servo;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.utils.Timer;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
public class IntegrationServo extends IntegrationDevice{
private final static double AllowErrorPosition=0.1;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/Integrations.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/Integrations.java
new file mode 100644
index 00000000..12d688ec
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/Integrations.java
@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode.hardwares.integration;
+
+import org.firstinspires.ftc.teamcode.utils.Timer;
+
+public interface Integrations {
+ void update();
+ Timer timer=new Timer();
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/PositionalIntegrationMotor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/PositionalIntegrationMotor.java
similarity index 81%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/PositionalIntegrationMotor.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/PositionalIntegrationMotor.java
index caf60362..28e71ce3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/PositionalIntegrationMotor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/PositionalIntegrationMotor.java
@@ -1,16 +1,16 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
+package org.firstinspires.ftc.teamcode.hardwares.integration;
import androidx.annotation.NonNull;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
-import org.firstinspires.ftc.teamcode.ric.Params;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.utils.Functions;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidContent;
-import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
+import org.firstinspires.ftc.teamcode.Params;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.Functions;
+import org.firstinspires.ftc.teamcode.utils.PID.PidContent;
+import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
public class PositionalIntegrationMotor extends IntegrationDevice{
private final static double AllowErrorPosition=15;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/BasicIntegrationGamepad.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/BasicIntegrationGamepad.java
similarity index 93%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/BasicIntegrationGamepad.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/BasicIntegrationGamepad.java
index 91be9852..10b1fed6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/BasicIntegrationGamepad.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/BasicIntegrationGamepad.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads;
+package org.firstinspires.ftc.teamcode.hardwares.integration.gamepads;
import androidx.annotation.NonNull;
import com.qualcomm.robotcore.hardware.Gamepad;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
import java.util.HashMap;
import java.util.Map;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyButtonType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyButtonType.java
similarity index 54%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyButtonType.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyButtonType.java
index f7cd2700..3fc0ce9e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyButtonType.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyButtonType.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads;
+package org.firstinspires.ftc.teamcode.hardwares.integration.gamepads;
public enum KeyButtonType {
A,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyMapSettingType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyMapSettingType.java
similarity index 67%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyMapSettingType.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyMapSettingType.java
index b32b60cc..a2faf322 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyMapSettingType.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyMapSettingType.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads;
+package org.firstinspires.ftc.teamcode.hardwares.integration.gamepads;
public enum KeyMapSettingType {
RunWhenButtonPressed,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyRodType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyRodType.java
similarity index 51%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyRodType.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyRodType.java
index 43285d16..37e63cc4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyRodType.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyRodType.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads;
+package org.firstinspires.ftc.teamcode.hardwares.integration.gamepads;
public enum KeyRodType {
LeftStickX,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyTag.java
similarity index 82%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyTag.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyTag.java
index 208bfc9f..6ae7d74d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/gamepads/KeyTag.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/gamepads/KeyTag.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads;
+package org.firstinspires.ftc.teamcode.hardwares.integration.gamepads;
public enum KeyTag {
Intake,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationBNO055.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationBNO055.java
similarity index 87%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationBNO055.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationBNO055.java
index 459ea9da..c59e9dd8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationBNO055.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationBNO055.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors;
+package org.firstinspires.ftc.teamcode.hardwares.integration.sensors;
import androidx.annotation.NonNull;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareDeviceTypes;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.HardwareDeviceTypes;
public class IntegrationBNO055 extends IntegrationSensor{
public final BNO055IMU sensor;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java
similarity index 92%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java
index d6fc0504..7fdb3485 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDeadWheelEncoders.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors;
+package org.firstinspires.ftc.teamcode.hardwares.integration.sensors;
import androidx.annotation.NonNull;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDistanceSensor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDistanceSensor.java
similarity index 86%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDistanceSensor.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDistanceSensor.java
index 818534b1..5736d797 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationDistanceSensor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationDistanceSensor.java
@@ -1,11 +1,11 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors;
+package org.firstinspires.ftc.teamcode.hardwares.integration.sensors;
import androidx.annotation.NonNull;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
import java.util.ArrayDeque;
import java.util.Queue;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationSensor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationSensor.java
similarity index 55%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationSensor.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationSensor.java
index 46ee2ebc..eedc2607 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/sensors/IntegrationSensor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/integration/sensors/IntegrationSensor.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration.sensors;
+package org.firstinspires.ftc.teamcode.hardwares.integration.sensors;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.Integrations;
+import org.firstinspires.ftc.teamcode.hardwares.integration.Integrations;
public abstract class IntegrationSensor implements Integrations {
public final String name;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/CustomizedHardwareRegisterOptions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/CustomizedHardwareRegisterOptions.java
new file mode 100644
index 00000000..0ab2da7d
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/CustomizedHardwareRegisterOptions.java
@@ -0,0 +1,9 @@
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
+
+import androidx.annotation.NonNull;
+
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
+
+public interface CustomizedHardwareRegisterOptions {
+ void run(@NonNull IntegrationHardwareMap map);
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DefaultHardwareRegisterOptions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DefaultHardwareRegisterOptions.java
similarity index 60%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DefaultHardwareRegisterOptions.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DefaultHardwareRegisterOptions.java
index b70f6bce..f54013a5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DefaultHardwareRegisterOptions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DefaultHardwareRegisterOptions.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
+import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
public class DefaultHardwareRegisterOptions implements CustomizedHardwareRegisterOptions{
@Override
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DeviceConfigPackage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DeviceConfigPackage.java
similarity index 90%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DeviceConfigPackage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DeviceConfigPackage.java
index 84aff058..7c42c981 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DeviceConfigPackage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DeviceConfigPackage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
public class DeviceConfigPackage {
public HardwareState state;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DriveDirection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DriveDirection.java
similarity index 54%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DriveDirection.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DriveDirection.java
index ee3ed4c5..1157c11c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/DriveDirection.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/DriveDirection.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
public enum DriveDirection {
back,
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareDeviceTypes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareDeviceTypes.java
similarity index 81%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareDeviceTypes.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareDeviceTypes.java
index 36b9e1c1..57012873 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareDeviceTypes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareDeviceTypes.java
@@ -1,15 +1,14 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
-import static org.firstinspires.ftc.teamcode.ric.Params.HardwareNamespace.*;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.namespace.HardwareState.*;
+import static org.firstinspires.ftc.teamcode.Params.HardwareNamespace.*;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.Servo;
-import org.firstinspires.ftc.teamcode.ric.Params.HardwareNamespace;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.hardwares.namespace.DeviceConfigPackage.Direction;
+import org.firstinspires.ftc.teamcode.Params.HardwareNamespace;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.hardwares.namespace.DeviceConfigPackage.Direction;
/**
* 可以自动登记硬件的名字及其类型
@@ -20,11 +19,11 @@ public enum HardwareDeviceTypes {
RightFront (-1, HardwareNamespace.RightFront, DcMotorEx.class),
LeftRear (-1, HardwareNamespace.LeftRear, DcMotorEx.class,Direction.Reversed),
RightRear (-1, HardwareNamespace.RightRear, DcMotorEx.class),
- PlacementArm (-1, HardwareNamespace.PlacementArm, DcMotorEx.class, Disabled),
- Intake (-1, HardwareNamespace.Intake, DcMotorEx.class, Disabled),
- FrontClip (-1, HardwareNamespace.FrontClip, Servo.class, Disabled),
- RearClip (-1, HardwareNamespace.RearClip, Servo.class, Disabled),
- SuspensionArm (-1, HardwareNamespace.SuspensionArm, DcMotorEx.class, Disabled),
+ PlacementArm (-1, HardwareNamespace.PlacementArm, DcMotorEx.class, HardwareState.Disabled),
+ Intake (-1, HardwareNamespace.Intake, DcMotorEx.class, HardwareState.Disabled),
+ FrontClip (-1, HardwareNamespace.FrontClip, Servo.class, HardwareState.Disabled),
+ RearClip (-1, HardwareNamespace.RearClip, Servo.class, HardwareState.Disabled),
+ SuspensionArm (-1, HardwareNamespace.SuspensionArm, DcMotorEx.class, HardwareState.Disabled),
LeftDeadWheel (-1, LeftRear.deviceName, DcMotorEx.class, Direction.Reversed),
MiddleDeadWheel (-1, LeftFront.deviceName,DcMotorEx.class, Direction.Reversed),
RightDeadWheel (-1, RightFront.deviceName, DcMotorEx.class, Direction.Reversed),
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareState.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareState.java
new file mode 100644
index 00000000..6e307b18
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardwares/namespace/HardwareState.java
@@ -0,0 +1,6 @@
+package org.firstinspires.ftc.teamcode.hardwares.namespace;
+
+public enum HardwareState {
+ Enabled,
+ Disabled
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMap.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMap.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMap.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMap.java
index 2fa17398..c824b911 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMap.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMap.java
@@ -1,20 +1,15 @@
-package org.firstinspires.ftc.teamcode.ric.keymap;
-
-import static org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag.*;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType.*;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType.*;
-import static org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType.*;
+package org.firstinspires.ftc.teamcode.keymap;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.BasicIntegrationGamepad;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.Global;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.BasicIntegrationGamepad;
+import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
+import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
import java.util.HashMap;
import java.util.Map;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapButtonContent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapButtonContent.java
similarity index 57%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapButtonContent.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapButtonContent.java
index 88dc93df..f4bef66a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapButtonContent.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapButtonContent.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.keymap;
+package org.firstinspires.ftc.teamcode.keymap;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyButtonType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyButtonType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
public class KeyMapButtonContent extends KeyMapContent {
public final KeyButtonType type;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapContent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapContent.java
similarity index 73%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapContent.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapContent.java
index 6cd4a033..f40b7307 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapContent.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapContent.java
@@ -1,9 +1,9 @@
-package org.firstinspires.ftc.teamcode.ric.keymap;
+package org.firstinspires.ftc.teamcode.keymap;
import androidx.annotation.NonNull;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
public abstract class KeyMapContent {
public final boolean IsControlledByGamePad1;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapRodContent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapRodContent.java
similarity index 56%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapRodContent.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapRodContent.java
index 8afd942e..8f919c32 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/keymap/KeyMapRodContent.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/keymap/KeyMapRodContent.java
@@ -1,8 +1,8 @@
-package org.firstinspires.ftc.teamcode.ric.keymap;
+package org.firstinspires.ftc.teamcode.keymap;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
+import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;
public class KeyMapRodContent extends KeyMapContent {
public final KeyRodType type;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TuningProgramTemplate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TuningProgramTemplate.java
deleted file mode 100644
index 0afc4382..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/codes/templates/TuningProgramTemplate.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.codes.templates;
-
-import org.firstinspires.ftc.teamcode.ric.Global;
-import org.firstinspires.ftc.teamcode.ric.Robot;
-import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
-import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
-import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
-
-@Templates
-public abstract class TuningProgramTemplate extends TeleopProgramTemplate{
- public Client client;
-
- @Override
- public void init() {
- Global.clear();
- robot=new Robot(hardwareMap, RunningMode.TestOrTune,telemetry);
- timer=new Timer();
- client=robot.client;
- whenInit();
- }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/LocalizerPlugin.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/LocalizerPlugin.java
deleted file mode 100644
index 98151f0d..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/drives/localizers/definition/LocalizerPlugin.java
+++ /dev/null
@@ -1,3 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.drives.localizers.definition;
-
-public interface LocalizerPlugin extends Localizer{}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/LiftPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/LiftPosition.java
deleted file mode 100644
index db99e8e4..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/LiftPosition.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares;
-
-public enum LiftPosition {
- IDLE,
- Low,
- High
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/ClipPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/ClipPosition.java
deleted file mode 100644
index cb60d5d0..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/basic/ClipPosition.java
+++ /dev/null
@@ -1,6 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.basic;
-
-public enum ClipPosition {
- Open,
- Close
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/Integrations.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/Integrations.java
deleted file mode 100644
index eece9a9f..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/integration/Integrations.java
+++ /dev/null
@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.integration;
-
-import org.firstinspires.ftc.teamcode.ric.utils.Timer;
-
-public interface Integrations {
- void update();
- Timer timer=new Timer();
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/CustomizedHardwareRegisterOptions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/CustomizedHardwareRegisterOptions.java
deleted file mode 100644
index 085c5a2a..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/CustomizedHardwareRegisterOptions.java
+++ /dev/null
@@ -1,9 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
-
-import androidx.annotation.NonNull;
-
-import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
-
-public interface CustomizedHardwareRegisterOptions {
- void run(@NonNull IntegrationHardwareMap map);
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareState.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareState.java
deleted file mode 100644
index f2da663c..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ric/hardwares/namespace/HardwareState.java
+++ /dev/null
@@ -1,6 +0,0 @@
-package org.firstinspires.ftc.teamcode.ric.hardwares.namespace;
-
-public enum HardwareState {
- Enabled,
- Disabled
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Drawing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Drawing.java
deleted file mode 100644
index 02dce20b..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Drawing.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode.roadrunner;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
-
-public final class Drawing {
- private Drawing() {}
-
-
- public static void drawRobot(Canvas c, Pose2d t) {
- final double ROBOT_RADIUS = 9;
-
- c.setStrokeWidth(1);
- c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
-
- Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
- Vector2d p1 = t.position.plus(halfv);
- Vector2d p2 = p1.plus(halfv);
- c.strokeLine(p1.x, p1.y, p2.x, p2.y);
- }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Localizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Localizer.java
deleted file mode 100644
index ee7a9f94..00000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/Localizer.java
+++ /dev/null
@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode.roadrunner;
-
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-
-public interface Localizer {
- Twist2dDual