Another subsystem shuffle

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

@@ -21,6 +21,7 @@
 import frc.robot.commands.shooter.RunKicker;
 import frc.robot.commands.shooter.StartShooter;
 import frc.robot.subsystems.*;
+import frc.robot.subsystems.hardware.PixyCam;
 
 public class RobotContainer {
   private final XboxController driverController = new XboxController(0);
@@ -40,8 +41,6 @@ public class RobotContainer {
   private final Drivetrain drivetrain = new Drivetrain(pigeon);
   private final Heading heading = new Heading(drivetrain::getGyroscopeRotation, drivetrain::isMoving);
 
-  private final TimeOfFlightSensor timeOfFlight = new TimeOfFlightSensor();
-
   private final SendableChooser<Command> autonChooser = new SendableChooser<>();
 
   public RobotContainer() {

src/main/java/frc/robot/commands/auto/Pos3RightFiveBall.java

@@ -40,15 +40,15 @@ public Pos3RightFiveBall(AutoDrive autoDrive, Delivery delivery, Drivetrain driv
         new AutoStartIntake(intake),
         new ProfiledPointToPointCommand(Constants.Auto.kBallR3Pickup, drivetrain::getTranslation, 2.5, 0.05, Units.inchesToMeters(120), 12, autoDrive, heading).withTimeout(2)
         ),
-      new AutoKickerCommand(kicker, 0).withTimeout(0.5),    
+      new AutoKickerCommand(kicker, 0).withTimeout(0.5),
       new ParallelCommandGroup(
         new ProfiledPointToPointCommand(Constants.Auto.kBallR2Pickup, drivetrain::getTranslation, 3.0, 0.05, Units.inchesToMeters(120), 12, autoDrive, heading).withTimeout(3),
         new AutoStartDelivery(delivery).withTimeout(0.75)
-        ),  
+        ),
         new AutoKickerCommand(kicker, 0).withTimeout(0.5),
       new ProfiledPointToPointCommand(Constants.Auto.kBallR2ShootPosition, drivetrain::getTranslation, 3.0, 0.05, Units.inchesToMeters(120), 15, autoDrive, heading).withTimeout(1),
       new ParallelCommandGroup(
-        new AutoKickerCommand(kicker, 0).withTimeout(1.5),    
+        new AutoKickerCommand(kicker, 0).withTimeout(1.5),
         new AutoStartDelivery(delivery).withTimeout(1.5)
       ),
       new WaitCommand(5),

src/main/java/frc/robot/subsystems/Delivery.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 import frc.robot.nerdyfiles.utilities.CTREUtils;
+import frc.robot.subsystems.hardware.ColorSensorTCS;
 
 /**
  * Subsystem for the delivery mechanism
@@ -21,7 +22,7 @@ public static enum Direction {
   }
 
   private final TalonFX motor = new TalonFX(Constants.DELIVERY_MOTOR_ID);
-  
+
   private final ColorSensorTCS sensor = new ColorSensorTCS(I2C.Port.kMXP);
 
 

src/main/java/frc/robot/hardware/ColorSensorREV.java → src/main/java/frc/robot/subsystems/hardware/ColorSensorREV.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware;
 
 import com.revrobotics.ColorSensorV3;
 import com.revrobotics.ColorMatchResult;
@@ -7,12 +7,13 @@
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.BallColor;
+import frc.robot.subsystems.hardware.interfaces.ColorSensor;
 
 /**
  * Subsystem for the REV Robotics Color Sensor V3. Plugs in to the I2C port.
- * 
+ *
  * @author Michael Francis
- * 
+ *
  * @apiNote https://github.com/REVrobotics/Color-Sensor-v3-Examples/tree/master/Java
  */
 public class ColorSensorREV extends SubsystemBase implements ColorSensor {

src/main/java/frc/robot/hardware/ColorSensorTCS.java → src/main/java/frc/robot/subsystems/hardware/ColorSensorTCS.java

@@ -1,15 +1,16 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware;
 
 import com.revrobotics.ColorMatchResult;
 import com.revrobotics.ColorMatch;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.BallColor;
+import frc.robot.subsystems.hardware.interfaces.ColorSensor;
 
 /**
  * Subsystem for the TCS34275 color sensor. Plugs in to the I2C port. Based on {@link ColorSensorREV}
- * 
+ *
  * @author Michael Francis
  */
 public class ColorSensorTCS extends SubsystemBase implements ColorSensor {
@@ -74,7 +75,7 @@ public BallColor getColor() {
   public boolean seesBall() {
     /**
      * Luminance max threshold
-     * 
+     *
      * This is a terrible way to go about this. If we can find a better way to do this, such as
      * using a Time of Flight sensor instead (there is code in the 2020 repo), it would be much
      * better. The current solution works, but it's a very sketchy solution.

src/main/java/frc/robot/hardware/PixyCam.java → src/main/java/frc/robot/subsystems/hardware/PixyCam.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware;
 
 import edu.wpi.first.wpilibj.shuffleboard.*;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

src/main/java/frc/robot/hardware/PowerDistributionHub.java → src/main/java/frc/robot/subsystems/hardware/PowerDistributionHub.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware;
 
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;

src/main/java/frc/robot/hardware/TCSSensor.java → src/main/java/frc/robot/subsystems/hardware/TCSSensor.java

@@ -1,4 +1,4 @@
-package frc.robot.hardware;
+package frc.robot.subsystems.hardware;
 
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.util.Color;

src/main/java/frc/robot/subsystems/TimeOfFlightSensor.java → src/main/java/frc/robot/subsystems/hardware/TimeOfFlightSensor.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware;
 
 import com.playingwithfusion.TimeOfFlight;
 import com.playingwithfusion.TimeOfFlight.Status;

src/main/java/frc/robot/hardware/interfaces/ColorSensor.java → src/main/java/frc/robot/subsystems/hardware/interfaces/ColorSensor.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.hardware.interfaces;
 
 import frc.robot.Constants.BallColor;