Rename subsystems and switch to non async queue

build.gradle

@@ -151,6 +151,7 @@ spotless {
         toggleOffOn()
         googleJavaFormat()
         removeUnusedImports()
+        indentWithSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }

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

@@ -70,7 +70,7 @@ public RobotContainer() {
         // new ModuleIOTalonFX(1),
         // new ModuleIOTalonFX(2),
         // new ModuleIOTalonFX(3));
-        shooter = new KitbotShooter(new FlywheelIOSparkMax(), new FeederIOSparkMax());
+        shooter = new KitbotShooter(new KitbotFlywheelIOSparkMax(), new KitbotFeederIOSparkMax());
         break;
 
       case SIM:
@@ -82,7 +82,7 @@ public RobotContainer() {
                 new ModuleIOSim(),
                 new ModuleIOSim(),
                 new ModuleIOSim());
-        shooter = new KitbotShooter(new FlywheelIOSim(), new FeederIOSim());
+        shooter = new KitbotShooter(new KitbotFlywheelIOSim(), new KitbotFeederIOSim());
         break;
 
       default:
@@ -94,7 +94,7 @@ public RobotContainer() {
                 new ModuleIO() {},
                 new ModuleIO() {},
                 new ModuleIO() {});
-        shooter = new KitbotShooter(new FlywheelIO() {}, new FeederIO() {});
+        shooter = new KitbotShooter(new KitbotFlywheelIO() {}, new KitbotFeederIO() {});
         break;
     }
 
@@ -116,7 +116,7 @@ public RobotContainer() {
         "Flywheel FF Characterization",
         Commands.sequence(
             Commands.runOnce(
-                () -> shooter.setCurrentMode(KitbotShooter.MODE.CHARACTERIZING), shooter),
+                () -> shooter.setCurrentMode(KitbotShooter.Mode.CHARACTERIZING), shooter),
             new FeedForwardCharacterization(
                 shooter, shooter::runFlywheelVolts, shooter::getFlywheelVelocityRadPerSec),
             Commands.runOnce(() -> shooter.setCurrentMode(null))));

src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java

@@ -17,10 +17,10 @@
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.hardware.ParentDevice;
+import java.util.ArrayDeque;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
-import java.util.concurrent.ArrayBlockingQueue;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 
@@ -55,7 +55,7 @@ private PhoenixOdometryThread() {
   }
 
   public Queue<Double> registerSignal(ParentDevice device, StatusSignal<Double> signal) {
-    Queue<Double> queue = new ArrayBlockingQueue<>(100);
+    Queue<Double> queue = new ArrayDeque<>(100);
     signalsLock.lock();
     Drive.odometryLock.lock();
     try {

src/main/java/frc/robot/subsystems/drive/SparkMaxOdometryThread.java

@@ -14,10 +14,10 @@
 package frc.robot.subsystems.drive;
 
 import edu.wpi.first.wpilibj.Notifier;
+import java.util.ArrayDeque;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
-import java.util.concurrent.ArrayBlockingQueue;
 import java.util.function.DoubleSupplier;
 
 /**
@@ -47,7 +47,7 @@ private SparkMaxOdometryThread() {
   }
 
   public Queue<Double> registerSignal(DoubleSupplier signal) {
-    Queue<Double> queue = new ArrayBlockingQueue<>(100);
+    Queue<Double> queue = new ArrayDeque<>(100);
     Drive.odometryLock.lock();
     try {
       signals.add(signal);

src/main/java/frc/robot/subsystems/kitbotshooter/FeederIO.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFeederIO.java

@@ -2,7 +2,7 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
-public interface FeederIO {
+public interface KitbotFeederIO {
   @AutoLog
   class FeederIOInputs {
     public double feederPositionRads = 0.0;

src/main/java/frc/robot/subsystems/kitbotshooter/FeederIOSim.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFeederIOSim.java

@@ -5,7 +5,7 @@
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 import frc.robot.Constants;
 
-public class FeederIOSim implements FeederIO {
+public class KitbotFeederIOSim implements KitbotFeederIO {
   private FlywheelSim sim = new FlywheelSim(DCMotor.getNeoVortex(1), (1.0 / 1.0), 0.002);
 
   private double positionRads;

src/main/java/frc/robot/subsystems/kitbotshooter/FeederIOSparkMax.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFeederIOSparkMax.java

@@ -7,13 +7,13 @@
 import edu.wpi.first.math.util.Units;
 import frc.robot.Constants;
 
-public class FeederIOSparkMax implements FeederIO {
+public class KitbotFeederIOSparkMax implements KitbotFeederIO {
   private static final double GEARING = (1.0 / 1.0);
 
   private final CANSparkMax motor;
   private final RelativeEncoder encoder;
 
-  public FeederIOSparkMax() {
+  public KitbotFeederIOSparkMax() {
     motor = new CANSparkMax(3, CANSparkLowLevel.MotorType.kBrushless);
 
     motor.restoreFactoryDefaults();

src/main/java/frc/robot/subsystems/kitbotshooter/FlywheelIO.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFlywheelIO.java

@@ -2,7 +2,7 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
-public interface FlywheelIO {
+public interface KitbotFlywheelIO {
   @AutoLog
   class FlywheelIOInputs {
     public double[] flywheelPositionRads = new double[] {};

src/main/java/frc/robot/subsystems/kitbotshooter/FlywheelIOSim.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFlywheelIOSim.java

@@ -8,7 +8,7 @@
 import frc.robot.Constants;
 import java.util.Arrays;
 
-public class FlywheelIOSim implements FlywheelIO {
+public class KitbotFlywheelIOSim implements KitbotFlywheelIO {
   private static final SimpleMotorFeedforward ffModel = new SimpleMotorFeedforward(0.0, 0.0, 0.0);
   private static final PIDController feedback = new PIDController(0.0, 0.0, 0.0);
 
@@ -22,7 +22,7 @@ public class FlywheelIOSim implements FlywheelIO {
   public void updateInputs(FlywheelIOInputs inputs) {
     positionRads += sim.getAngularVelocityRadPerSec() * (Constants.loopPeriodMs / 1000.0);
     inputs.flywheelPositionRads = new double[] {positionRads, positionRads};
-    inputs.flywheelPositionRads = new double[2];
+    inputs.flywheelVelocityRadPerSec = new double[2];
     Arrays.fill(inputs.flywheelPositionRads, sim.getAngularVelocityRadPerSec());
     inputs.flywheelAppliedVolts = new double[] {inputVolts, inputVolts};
   }

src/main/java/frc/robot/subsystems/kitbotshooter/FlywheelIOSparkMax.java → src/main/java/frc/robot/subsystems/kitbotshooter/KitbotFlywheelIOSparkMax.java

@@ -10,7 +10,7 @@
 import frc.robot.Constants;
 import java.util.Arrays;
 
-public class FlywheelIOSparkMax implements FlywheelIO {
+public class KitbotFlywheelIOSparkMax implements KitbotFlywheelIO {
   // FIND THESE CONSTANTS
   private static final boolean masterInverted = false;
   private static final boolean followerInverted = false;
@@ -21,7 +21,7 @@ public class FlywheelIOSparkMax implements FlywheelIO {
   private final CANSparkMax leader, follower;
   private final RelativeEncoder masterEncoder, followerEncoder;
 
-  public FlywheelIOSparkMax() {
+  public KitbotFlywheelIOSparkMax() {
     // FIND ID
     leader = new CANSparkMax(0, CANSparkLowLevel.MotorType.kBrushless);
     follower = new CANSparkMax(1, CANSparkLowLevel.MotorType.kBrushless);

src/main/java/frc/robot/subsystems/kitbotshooter/KitbotShooter.java

@@ -13,69 +13,69 @@ public class KitbotShooter extends SubsystemBase {
   private static double flywheelIntakeVoltage = -5.0;
   private static double feederIntakeVoltage = -5.0;
 
-  private FlywheelIO flywheelIO;
-  private FeederIO feederIO;
+  private KitbotFlywheelIO kitbotFlywheelIO;
+  private KitbotFeederIO kitbotFeederIO;
 
   private FlywheelIOInputsAutoLogged flywheelInputs = new FlywheelIOInputsAutoLogged();
   private FeederIOInputsAutoLogged feederInputs = new FeederIOInputsAutoLogged();
 
-  private MODE currentMode = null;
+  private Mode currentMode = null;
 
-  public KitbotShooter(FlywheelIO flywheelIO, FeederIO feederIO) {
-    this.flywheelIO = flywheelIO;
-    this.feederIO = feederIO;
+  public KitbotShooter(KitbotFlywheelIO kitbotFlywheelIO, KitbotFeederIO kitbotFeederIO) {
+    this.kitbotFlywheelIO = kitbotFlywheelIO;
+    this.kitbotFeederIO = kitbotFeederIO;
   }
 
   @Override
   public void periodic() {
     // update inputs
-    flywheelIO.updateInputs(flywheelInputs);
-    feederIO.updateInputs(feederInputs);
+    kitbotFlywheelIO.updateInputs(flywheelInputs);
+    kitbotFeederIO.updateInputs(feederInputs);
     // process inputs
     Logger.processInputs("KitbotShooter/Flywheel", flywheelInputs);
     Logger.processInputs("KitbotShooter/Feeder", feederInputs);
 
     // check for current mode
     if (currentMode == null) {
-      currentMode = DriverStation.isEnabled() ? MODE.ENABLED : MODE.DISABLED;
-      flywheelIO.setBrakeMode(DriverStation.isEnabled());
-      feederIO.setBrakeMode(DriverStation.isEnabled());
+      currentMode = DriverStation.isEnabled() ? Mode.ENABLED : Mode.DISABLED;
+      kitbotFlywheelIO.setBrakeMode(DriverStation.isEnabled());
+      kitbotFeederIO.setBrakeMode(DriverStation.isEnabled());
     }
 
-    if (currentMode == MODE.DISABLED) {
-      flywheelIO.setBrakeMode(false);
-      feederIO.setBrakeMode(false);
-    } else if (currentMode == MODE.ENABLED) {
+    if (currentMode == Mode.DISABLED) {
+      kitbotFlywheelIO.setBrakeMode(false);
+      kitbotFeederIO.setBrakeMode(false);
+    } else if (currentMode == Mode.ENABLED) {
       // other stuff
-    } else if (currentMode == MODE.CHARACTERIZING) {
+    } else if (currentMode == Mode.CHARACTERIZING) {
 
     }
   }
 
   /** Set input voltage for flywheel */
   public void runFlywheelVolts(double volts) {
-    flywheelIO.runVolts(volts);
+    kitbotFlywheelIO.runVolts(volts);
   }
 
   /** Set input voltage for feeder */
   public void runFeederVolts(double volts) {
-    feederIO.runVolts(volts);
+    kitbotFeederIO.runVolts(volts);
   }
 
   /** Run flywheel at velocity */
   public void runFlywheelVelocity(double rpm) {
-    if (currentMode != MODE.ENABLED) return;
+    if (currentMode != Mode.ENABLED) return;
     double rps = Units.rotationsPerMinuteToRadiansPerSecond(rpm);
-    flywheelIO.runVelocity(Units.rotationsToRadians(rps));
+    kitbotFlywheelIO.runVelocity(Units.rotationsToRadians(rps));
   }
 
-  public void setCurrentMode(MODE mode) {
+  public void setCurrentMode(Mode mode) {
     currentMode = mode;
   }
 
   @AutoLogOutput(key = "KitbotShooter/FlywheelRPM")
   public double getFlywheelRPM() {
-    return flywheelIO.getVelocityRPM();
+    return kitbotFlywheelIO.getVelocityRPM();
   }
 
   @AutoLogOutput(key = "KitbotShooter/FlywheelVelocityRadPerSec")
@@ -95,17 +95,17 @@ public double getFeederCurrent() {
 
   public Command intakeCommand() {
     return Commands.startEnd(
-            () -> {
-              flywheelIO.runVolts(flywheelIntakeVoltage);
-              feederIO.runVolts(feederIntakeVoltage);
-            },
-            () -> {
-              flywheelIO.runVolts(0.0);
-              feederIO.runVolts(0.0);
-            });
+        () -> {
+          kitbotFlywheelIO.runVolts(flywheelIntakeVoltage);
+          kitbotFeederIO.runVolts(feederIntakeVoltage);
+        },
+        () -> {
+          kitbotFlywheelIO.runVolts(0.0);
+          kitbotFeederIO.runVolts(0.0);
+        });
   }
 
-  public enum MODE {
+  public enum Mode {
     ENABLED,
     DISABLED,
     CHARACTERIZING;