remove note finder (wont carry over) + organize into package folders

lib/src/main/java/coppercore/constants/FieldConstants.java

@@ -0,0 +1,67 @@
+package constants;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+
+public static final class FieldConstants {
+    public static final double lengthM = 16.451;
+    public static final double widthM = 8.211;
+
+    public static final double midfieldLowThresholdM = 5.87;
+    public static final double midfieldHighThresholdM = 10.72;
+
+    public static final Rotation2d ampHeading = new Rotation2d(-Math.PI / 2);
+
+    public static final Rotation2d blueUpHeading = Rotation2d.fromRadians(0.0);
+    public static final Rotation2d blueDownHeading = Rotation2d.fromRadians(Math.PI);
+    public static final Rotation2d blueLeftHeading = Rotation2d.fromRadians(Math.PI / 2.0);
+    public static final Rotation2d blueRightHeading = Rotation2d.fromRadians(-Math.PI / 2.0);
+
+    public static final Rotation2d redUpHeading = Rotation2d.fromRadians(Math.PI);
+    public static final Rotation2d redDownHeading = Rotation2d.fromRadians(0.0);
+    public static final Rotation2d redLeftHeading = Rotation2d.fromRadians(-Math.PI / 2.0);
+    public static final Rotation2d redRightHeading = Rotation2d.fromRadians(Math.PI / 2.0);
+
+    public static final Rotation2d redSourceHeading =
+            new Rotation2d(Math.PI * 4 / 3); // 60 degrees
+    public static final Rotation2d blueSourceHeading =
+            new Rotation2d(Math.PI * 5 / 3); // 120 degrees
+
+    public static final Translation2d fieldToRedSpeaker =
+            new Translation2d(Units.inchesToMeters(652.73), Units.inchesToMeters(218.42));
+
+    public static final Translation2d fieldToBlueSpeaker =
+            new Translation2d(Units.inchesToMeters(-1.5), Units.inchesToMeters(218.42));
+
+    public static final Pose2d robotAgainstBlueSpeaker =
+            new Pose2d(1.39, 5.56, Rotation2d.fromDegrees(180));
+
+    public static final Pose2d robotAgainstRedSpeaker =
+            new Pose2d(15.19, 5.56, Rotation2d.fromDegrees(0));
+
+    public static final Pose2d robotAgainstBlueSpeakerRight =
+            new Pose2d(0.7, 4.38, Rotation2d.fromDegrees(120));
+
+    public static final Pose2d robotAgainstRedSpeakerRight =
+            new Pose2d(15.83, 6.73, Rotation2d.fromDegrees(-60));
+
+    public static final Pose2d robotAgainstBlueSpeakerLeft =
+            new Pose2d(0.7, 6.73, Rotation2d.fromDegrees(-120));
+
+    public static final Pose2d robotAgainstRedSpeakerLeft =
+            new Pose2d(15.83, 4.38, Rotation2d.fromDegrees(60));
+
+    public static final Pose2d robotAgainstBluePodium =
+            new Pose2d(2.57, 4.09, Rotation2d.fromDegrees(180));
+
+    public static final Pose2d robotAgainstRedPodium =
+            new Pose2d(13.93, 4.09, Rotation2d.fromDegrees(0));
+
+    public static final Pose2d robotAgainstBlueAmpZone =
+            new Pose2d(2.85, 7.68, Rotation2d.fromDegrees(-90));
+
+    public static final Pose2d robotAgainstRedAmpZone =
+            new Pose2d(13.74, 7.68, Rotation2d.fromDegrees(-90));
+}

lib/src/main/java/org/utils/AllianceUtil.java → lib/src/main/java/coppercore/utils/AllianceUtil.java

@@ -1,30 +1,26 @@
-package frc.robot.utils;
+package utils;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
-import frc.robot.Constants.FieldConstants;
-import org.littletonrobotics.junction.Logger;
+import constants.FieldConstants;
 
 public class AllianceUtil {
 
     public static Translation2d getFieldToSpeaker() {
         if (!DriverStation.getAlliance().isEmpty()) {
             switch (DriverStation.getAlliance().get()) {
                 case Blue:
-                    Logger.recordOutput("Field/speaker", FieldConstants.fieldToBlueSpeaker);
                     return FieldConstants.fieldToBlueSpeaker;
                 case Red:
-                    Logger.recordOutput("Field/speaker", FieldConstants.fieldToRedSpeaker);
                     return FieldConstants.fieldToRedSpeaker;
             }
         }
         return FieldConstants.fieldToRedSpeaker;
     }
 
     public static Rotation2d getAmpHeading() {
-        Logger.recordOutput("Field/amp", FieldConstants.ampHeading);
         return FieldConstants.ampHeading;
     }
 
@@ -92,10 +88,8 @@ public static Rotation2d getSourceHeading() {
         if (!DriverStation.getAlliance().isEmpty()) {
             switch (DriverStation.getAlliance().get()) {
                 case Blue:
-                    Logger.recordOutput("Field/source", FieldConstants.blueSourceHeading);
                     return FieldConstants.blueSourceHeading;
                 case Red:
-                    Logger.recordOutput("Field/source", FieldConstants.redSourceHeading);
                     return FieldConstants.redSourceHeading;
             }
         }