move to control2 group/package

zachwaffle4 · zachwaffle4 · commit b56913e4eeb4 · 2025-12-19T21:50:07.000-05:00
Signed-off-by: Zach Harel &lt;zach@zharel.me&gt;
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -8,20 +8,20 @@ plugins {
 
 allprojects {
     version = property("version") as String
-    group = "dev.nextftc.control"
+    group = "dev.nextftc.control2"
 }
 
 subprojects {
     extensions.configure<DeployerExtension> {
         projectInfo {
-            url = "https://v1.nextftc.dev/"
+            url = "https://nextftc.dev/"
             scm {
-                fromGithub("NextFTC", "NextFTC")
+                fromGithub("NextFTC", "control")
             }
-            license("GNU General Public License, version 3", "https://www.gnu.org/licenses/gpl-3.0.html")
+            license("BSD 3-Clause License", "https://opensource.org/license/bsd-3-clause")
+            developer("Zach Harel", "ftc@zharel.me", url = "https://github.com/zachwaffle4")
             developer("Davis Luxenberg", "davis.luxenberg@outlook.com", url = "https://github.com/BeepBot99")
             developer("Rowan McAlpin", "rowan@nextftc.dev", url = "https://rowanmcalpin.com")
-            developer("Zach Harel", "ftc@zharel.me", url = "https://github.com/zachwaffle4")
         }
     }
 }
diff --git a/control/src/main/kotlin/dev/nextftc/control2/feedback/LQRController.kt b/control/src/main/kotlin/dev/nextftc/control2/feedback/LQRController.kt
@@ -8,12 +8,12 @@
 
 @file:Suppress("ktlint:standard:property-naming")
 
-package dev.nextftc.control.feedback
+package dev.nextftc.control2.feedback
 
-import dev.nextftc.control.model.LinearModel
-import dev.nextftc.control.util.discretizeAB
-import dev.nextftc.control.util.makeBrysonMatrix
-import dev.nextftc.control.util.solveDARE
+import dev.nextftc.control2.model.LinearModel
+import dev.nextftc.control2.util.discretizeAB
+import dev.nextftc.control2.util.makeBrysonMatrix
+import dev.nextftc.control2.util.solveDARE
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.N1
 import dev.nextftc.linalg.Nat
@@ -99,7 +99,7 @@ class LQRController<States : Nat, Inputs : Nat, Outputs : Nat> @JvmOverloads con
 }
 
 /**
- * Computes the optimal gain matrix K using [dev.nextftc.control.util.solveDARE].
+ * Computes the optimal gain matrix K using [dev.nextftc.control2.util.solveDARE].
  *
  * @return Pair of DARE solution X and K.
  */
diff --git a/control/src/main/kotlin/dev/nextftc/control2/feedback/PIDController.kt b/control/src/main/kotlin/dev/nextftc/control2/feedback/PIDController.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedback
+package dev.nextftc.control2.feedback
 
 import kotlin.math.sign
 import kotlin.time.ComparableTimeMark
diff --git a/control/src/main/kotlin/dev/nextftc/control2/feedback/SquIDController.kt b/control/src/main/kotlin/dev/nextftc/control2/feedback/SquIDController.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedback
+package dev.nextftc.control2.feedback
 
 import kotlin.math.abs
 import kotlin.math.sign
diff --git a/control/src/main/kotlin/dev/nextftc/control2/feedforward/GravityFeedforward.kt b/control/src/main/kotlin/dev/nextftc/control2/feedforward/GravityFeedforward.kt
@@ -6,9 +6,9 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedforward
+package dev.nextftc.control2.feedforward
 
-import dev.nextftc.control.model.MotionState
+import dev.nextftc.control2.model.MotionState
 import dev.nextftc.units.unittypes.Inches
 import dev.nextftc.units.unittypes.InchesPerSecond
 import dev.nextftc.units.unittypes.InchesPerSecondSquared
diff --git a/control/src/main/kotlin/dev/nextftc/control2/feedforward/SimpleFeedforward.kt b/control/src/main/kotlin/dev/nextftc/control2/feedforward/SimpleFeedforward.kt
@@ -6,9 +6,9 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedforward
+package dev.nextftc.control2.feedforward
 
-import dev.nextftc.control.model.MotionState
+import dev.nextftc.control2.model.MotionState
 import dev.nextftc.units.unittypes.InchesPerSecond
 import dev.nextftc.units.unittypes.InchesPerSecondSquared
 import kotlin.math.sign
diff --git a/control/src/main/kotlin/dev/nextftc/control2/filters/KalmanFilter.kt b/control/src/main/kotlin/dev/nextftc/control2/filters/KalmanFilter.kt
@@ -8,13 +8,13 @@
 
 @file:Suppress("ktlint:standard:property-naming")
 
-package dev.nextftc.control.filters
+package dev.nextftc.control2.filters
 
-import dev.nextftc.control.model.LinearModel
-import dev.nextftc.control.util.discretizeAQ
-import dev.nextftc.control.util.discretizeR
-import dev.nextftc.control.util.makeCovarianceMatrix
-import dev.nextftc.control.util.solveDARE
+import dev.nextftc.control2.model.LinearModel
+import dev.nextftc.control2.util.discretizeAQ
+import dev.nextftc.control2.util.discretizeR
+import dev.nextftc.control2.util.makeCovarianceMatrix
+import dev.nextftc.control2.util.solveDARE
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.Nat
 import dev.nextftc.linalg.Vector
diff --git a/control/src/main/kotlin/dev/nextftc/control2/model/Model.kt b/control/src/main/kotlin/dev/nextftc/control2/model/Model.kt
@@ -6,9 +6,9 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.model
+package dev.nextftc.control2.model
 
-import dev.nextftc.control.util.discretizeAB
+import dev.nextftc.control2.util.discretizeAB
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.Nat
 import dev.nextftc.linalg.Vector
diff --git a/control/src/main/kotlin/dev/nextftc/control2/model/MotionState.kt b/control/src/main/kotlin/dev/nextftc/control2/model/MotionState.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.model
+package dev.nextftc.control2.model
 
 import dev.nextftc.units.measuretypes.Distance
 import dev.nextftc.units.measuretypes.LinearAcceleration
diff --git a/control/src/main/kotlin/dev/nextftc/control2/profiles/TrapezoidProfile.kt b/control/src/main/kotlin/dev/nextftc/control2/profiles/TrapezoidProfile.kt
@@ -6,18 +6,16 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.profiles
+package dev.nextftc.control2.profiles
 
-import dev.nextftc.control.model.MotionState
-import dev.nextftc.units.measuretypes.Distance
+import dev.nextftc.control2.model.MotionState
 import dev.nextftc.units.measuretypes.LinearAcceleration
 import dev.nextftc.units.measuretypes.LinearVelocity
 import dev.nextftc.units.unittypes.inchesPerSecond
 import dev.nextftc.units.unittypes.inchesPerSecondSquared
 import kotlin.math.abs
 import kotlin.math.max
 import kotlin.math.sqrt
-import kotlin.math.withSign
 import kotlin.time.Duration
 import kotlin.time.DurationUnit
 
diff --git a/control/src/main/kotlin/dev/nextftc/control2/util/Discretization.kt b/control/src/main/kotlin/dev/nextftc/control2/util/Discretization.kt
@@ -8,12 +8,11 @@
 
 @file:Suppress("ktlint:standard:property-naming")
 
-package dev.nextftc.control.util
+package dev.nextftc.control2.util
 
 import dev.nextftc.linalg.DynamicMatrix
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.Nat
-import dev.nextftc.linalg.exp
 
 /**
  * Discretizes a continuous-time system (A, B) to a discrete-time system (Ad, Bd).
diff --git a/control/src/main/kotlin/dev/nextftc/control2/util/StateSpaceUtil.kt b/control/src/main/kotlin/dev/nextftc/control2/util/StateSpaceUtil.kt
@@ -8,7 +8,7 @@
 
 @file:Suppress("ktlint:standard:property-naming")
 
-package dev.nextftc.control.util
+package dev.nextftc.control2.util
 
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.Nat
diff --git a/control/src/test/kotlin/dev/nextftc/control2/feedback/PIDControllerTest.kt b/control/src/test/kotlin/dev/nextftc/control2/feedback/PIDControllerTest.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedback
+package dev.nextftc.control2.feedback
 
 import io.kotest.core.spec.style.FunSpec
 import io.kotest.matchers.doubles.plusOrMinus
diff --git a/control/src/test/kotlin/dev/nextftc/control2/feedback/SquIDControllerTest.kt b/control/src/test/kotlin/dev/nextftc/control2/feedback/SquIDControllerTest.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedback
+package dev.nextftc.control2.feedback
 
 import io.kotest.core.spec.style.FunSpec
 import io.kotest.matchers.doubles.plusOrMinus
diff --git a/control/src/test/kotlin/dev/nextftc/control2/feedforward/GravityFeedforwardTest.kt b/control/src/test/kotlin/dev/nextftc/control2/feedforward/GravityFeedforwardTest.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedforward
+package dev.nextftc.control2.feedforward
 
 import io.kotest.core.spec.style.FunSpec
 import io.kotest.matchers.doubles.plusOrMinus
diff --git a/control/src/test/kotlin/dev/nextftc/control2/feedforward/SimpleFeedforwardTest.kt b/control/src/test/kotlin/dev/nextftc/control2/feedforward/SimpleFeedforwardTest.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.feedforward
+package dev.nextftc.control2.feedforward
 
 import io.kotest.core.spec.style.FunSpec
 import io.kotest.matchers.doubles.plusOrMinus
diff --git a/control/src/test/kotlin/dev/nextftc/control2/profiles/TrapezoidProfileTest.kt b/control/src/test/kotlin/dev/nextftc/control2/profiles/TrapezoidProfileTest.kt
@@ -6,9 +6,9 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.profiles
+package dev.nextftc.control2.profiles
 
-import dev.nextftc.control.model.MotionState
+import dev.nextftc.control2.model.MotionState
 import dev.nextftc.units.Measure
 import io.kotest.assertions.throwables.shouldThrow
 import io.kotest.core.spec.style.FunSpec
diff --git a/control/src/test/kotlin/dev/nextftc/control2/util/DiscretizationTest.kt b/control/src/test/kotlin/dev/nextftc/control2/util/DiscretizationTest.kt
@@ -6,7 +6,7 @@
  *  https://opensource.org/license/bsd-3-clause.
  */
 
-package dev.nextftc.control.util
+package dev.nextftc.control2.util
 
 import dev.nextftc.linalg.Matrix
 import dev.nextftc.linalg.N2

Original file line number	Diff line number	Diff line change
`@@ -8,20 +8,20 @@ plugins {`
`8`	`8`
`9`	`9`	`allprojects {`
`10`	`10`	`version = property("version") as String`
`11`		`- group = "dev.nextftc.control"`
	`11`	`+ group = "dev.nextftc.control2"`
`12`	`12`	`}`
`13`	`13`
`14`	`14`	`subprojects {`
`15`	`15`	`extensions.configure<DeployerExtension> {`
`16`	`16`	`projectInfo {`
`17`		`- url = "https://v1.nextftc.dev/"`
	`17`	`+ url = "https://nextftc.dev/"`
`18`	`18`	`scm {`
`19`		`- fromGithub("NextFTC", "NextFTC")`
	`19`	`+ fromGithub("NextFTC", "control")`
`20`	`20`	`}`
`21`		`- license("GNU General Public License, version 3", "https://www.gnu.org/licenses/gpl-3.0.html")`
	`21`	`+ license("BSD 3-Clause License", "https://opensource.org/license/bsd-3-clause")`
	`22`	`+ developer("Zach Harel", "ftc@zharel.me", url = "https://github.com/zachwaffle4")`
`22`	`23`	`developer("Davis Luxenberg", "davis.luxenberg@outlook.com", url = "https://github.com/BeepBot99")`
`23`	`24`	`developer("Rowan McAlpin", "rowan@nextftc.dev", url = "https://rowanmcalpin.com")`
`24`		`- developer("Zach Harel", "ftc@zharel.me", url = "https://github.com/zachwaffle4")`
`25`	`25`	`}`
`26`	`26`	`}`
`27`	`27`	`}`