Renamed CoralScoreSubsytem and CoralArmSubsystem + related variables

src/main/java/competition/Robot.java

@@ -12,11 +12,9 @@
 import competition.operator_interface.OperatorInterface;
 import competition.simulation.BaseSimulator;
 import competition.subsystems.algae_arm.AlgaeArmSubsystem;
-import competition.subsystems.coral_arm.CoralArmSubsystem;
-import competition.subsystems.pose.Landmarks;
+import competition.subsystems.stinger_arm.StingerArmSubsystem;
 import competition.subsystems.pose.PoseSubsystem;
 import edu.wpi.first.wpilibj.Preferences;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
@@ -40,7 +38,7 @@ public class Robot extends BaseRobot {
     ElectricalContract simulatorContract = new UnitTestContract2025();
     OperatorInterface oi;
     AlgaeArmSubsystem algaeArmSubsystem;
-    CoralArmSubsystem coralArmSubsystem;
+    StingerArmSubsystem coralArmSubsystem;
 
     Robot() {
         // We currently can't keep up with 0.02s loop times, and the error reporting about loop

src/main/java/competition/commandgroups/DriveToClosestStationCommandGroupFactory.java

@@ -1,6 +1,6 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand;
+import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand;
 import competition.subsystems.drive.commands.AlignToSpecificHumanLoadingStationCommand;
 import competition.subsystems.drive.commands.DriveToCoralStationCommand;
 import competition.subsystems.drive.commands.DriveToCoralStationInterstitialCommand;

src/main/java/competition/commandgroups/DriveToFaceAndScoreCommandGroupFactory.java

@@ -1,12 +1,11 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand;
+import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand;
 import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand;
 import competition.subsystems.pose.Landmarks;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
 import xbot.common.command.DelayViaSupplierCommand;
 import xbot.common.properties.DistanceProperty;
 import xbot.common.properties.DoubleProperty;

src/main/java/competition/commandgroups/DriveToStationAndIntakeUntilCollectedCommandGroupFactory.java

@@ -1,6 +1,6 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand;
+import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand;
 import competition.subsystems.drive.commands.AlignToSpecificHumanLoadingStationCommand;
 import competition.subsystems.drive.commands.DriveToCoralStationInterstitialCommand;
 import competition.subsystems.drive.commands.ShoveCoralStationCommand;

src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java

@@ -1,13 +1,12 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_arm.CoralArmSubsystem;
-import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand;
+import competition.subsystems.stinger_arm.StingerArmSubsystem;
+import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand;
 import competition.subsystems.drive.commands.AlignToReefWithAprilTagCommand;
 import competition.subsystems.drive.commands.DriveToReefFaceFromAngleUntilDetectionCommand;
 import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand;
 import competition.subsystems.pose.Cameras;
 import competition.subsystems.pose.Landmarks;
-import competition.subsystems.pose.PoseSubsystem;
 import dagger.assisted.Assisted;
 import dagger.assisted.AssistedFactory;
 import dagger.assisted.AssistedInject;
@@ -19,7 +18,7 @@
 import static edu.wpi.first.units.Units.Meters;
 
 public class HeadingAssistedDriveAndScoreCommandGroup extends SequentialCommandGroup {
-    CoralArmSubsystem coralArmSubsystem;
+    StingerArmSubsystem coralArmSubsystem;
 
 
     @AssistedFactory
@@ -34,7 +33,7 @@ public HeadingAssistedDriveAndScoreCommandGroup(@Assisted Landmarks.Branch branc
                                                     ScoreWhenReadyCommand scoreWhenReadyCommand,
                                                     Provider<AlignToReefWithAprilTagCommand> alignToReefWithAprilTagCommandProvider,
                                                     MeasureDistanceBeforeScoringCommand measureDistanceBeforeScoringCommand,
-                                                    CoralArmSubsystem coralArmSubsystem) {
+                                                    StingerArmSubsystem coralArmSubsystem) {
         this.coralArmSubsystem = coralArmSubsystem;
         var prepCoralSystemCommandGroup = prepCoralSystemCommandGroupFactory.create(coralArmSubsystem::getTargetCoralLevel);
         var alignToReefWithAprilTagWithCameraCommand = alignToReefWithAprilTagCommandProvider.get();

src/main/java/competition/commandgroups/HumanLoadUntillCoralCollectedCommandGroup.java

@@ -1,6 +1,6 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand;
+import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand;
 import competition.subsystems.pose.Landmarks;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 

src/main/java/competition/commandgroups/PrepCoralSystemCommandGroupFactory.java

@@ -1,6 +1,6 @@
 package competition.commandgroups;
 
-import competition.subsystems.coral_arm.commands.SetCoralArmTargetAngleCommand;
+import competition.subsystems.stinger_arm.commands.SetStingerArmTargetAngleCommand;
 import competition.subsystems.elevator.commands.SetElevatorTargetHeightCommand;
 import competition.subsystems.pose.Landmarks;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -12,12 +12,12 @@
 public class PrepCoralSystemCommandGroupFactory {
 
     Provider<SetElevatorTargetHeightCommand> setElevatorTargetHeightCommandProvider;
-    Provider<SetCoralArmTargetAngleCommand> setCoralArmTargetAngleCommandProvider;
+    Provider<SetStingerArmTargetAngleCommand> setCoralArmTargetAngleCommandProvider;
 
 
     @Inject
     public PrepCoralSystemCommandGroupFactory(Provider<SetElevatorTargetHeightCommand> setElevatorTargetHeightCommandProvider,
-                                              Provider<SetCoralArmTargetAngleCommand> setCoralArmTargetAngleCommandProvider) {
+                                              Provider<SetStingerArmTargetAngleCommand> setCoralArmTargetAngleCommandProvider) {
         this.setElevatorTargetHeightCommandProvider = setElevatorTargetHeightCommandProvider;
         this.setCoralArmTargetAngleCommandProvider = setCoralArmTargetAngleCommandProvider;
     }

src/main/java/competition/commandgroups/vision_path/PathDriveToCoralStationAndIntakeUntilCollected.java

@@ -1,7 +1,7 @@
 package competition.commandgroups.vision_path;
 
 import competition.commandgroups.PrepCoralSystemCommandGroupFactory;
-import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand;
+import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand;
 import competition.subsystems.drive.commands.vision_path.DriveVectorSmallCommand;
 import competition.subsystems.drive.commands.vision_path.PathDriveToNearestCoralStationSectionCommand;
 import competition.subsystems.pose.Landmarks;

src/main/java/competition/commandgroups/vision_path/PathDriveToLocationForCoralStationFactory.java

@@ -4,7 +4,7 @@
 import static edu.wpi.first.units.Units.Seconds;
 
 import competition.commandgroups.PrepCoralSystemCommandGroupFactory;
-import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand;
+import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand;
 import competition.subsystems.drive.commands.vision_path.DriveVectorSmallCommand;
 import competition.subsystems.drive.commands.vision_path.PathDriveToLocationCommand;
 import competition.subsystems.pose.Landmarks;

src/main/java/competition/commandgroups/vision_path/PathToBestReefBranchLevelThenAlignAndPrepCommandGroupFactory.java

@@ -4,7 +4,7 @@
 import static edu.wpi.first.units.Units.Meters;
 
 import competition.commandgroups.PrepCoralSystemCommandGroupFactory;
-import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand;
+import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand;
 import competition.subsystems.drive.commands.AlignToTagGlobalMovementWithCalculator;
 import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand;
 import competition.subsystems.drive.commands.vision_path.PathDriveToLocationCommandUntilAprilTagDetectionDynamic;
@@ -13,7 +13,6 @@
 import competition.subsystems.vision.AprilTagVisionSubsystemExtended;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import javax.inject.Inject;

src/main/java/competition/commandgroups/vision_path/PathToFaceAndScoreCommandGroupFactory.java

@@ -1,7 +1,7 @@
 package competition.commandgroups.vision_path;
 
 import competition.commandgroups.PrepCoralSystemCommandGroupFactory;
-import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand;
+import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand;
 import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand;
 import competition.subsystems.pose.Landmarks;
 import edu.wpi.first.units.measure.Distance;

src/main/java/competition/electrical_contract/Contract2025.java

@@ -60,9 +60,9 @@ public CANMotorControllerInfo getCoralCollectionMotor() {
         );
     }
 
-    public boolean isCoralArmMotorReady() { return true; }
+    public boolean isStingerArmMotorReady() { return true; }
 
-    public CANMotorControllerInfo getCoralArmPivotMotor() {
+    public CANMotorControllerInfo getStingerArmPivotMotor() {
         return new CANMotorControllerInfo("ArmPivotMotor",
                 MotorControllerType.TalonFx,
                 CANBusId.RIO,
@@ -112,16 +112,16 @@ public boolean areCanCodersReady() {
         return true;
     }
 
-    public DeviceInfo getCoralArmPivotAbsoluteEncoder() {
+    public DeviceInfo getStingerArmPivotAbsoluteEncoder() {
         return new DeviceInfo("ArmPivotAbsoluteEncoder", 29);
     }
 
-    public boolean isCoralArmPivotAbsoluteEncoderReady() { return false; }
+    public boolean isStingerArmPivotAbsoluteEncoderReady() { return false; }
 
-    public DeviceInfo getCoralArmLowSensor() {
+    public DeviceInfo getStingerArmLowSensor() {
         return new DeviceInfo("ArmPivotLowSensor", 1, true);
     }
-    public boolean isCoralArmLowSensorReady() { return true; }
+    public boolean isStingerArmLowSensorReady() { return true; }
 
     @Override
     public boolean isElevatorReady() {

src/main/java/competition/electrical_contract/ElectricalContract.java

@@ -46,17 +46,17 @@ public abstract class ElectricalContract implements XSwerveDriveElectricalContra
 
     public abstract CANMotorControllerInfo getCoralCollectionMotor();
 
-    public abstract boolean isCoralArmMotorReady();
+    public abstract boolean isStingerArmMotorReady();
 
-    public abstract CANMotorControllerInfo getCoralArmPivotMotor();
+    public abstract CANMotorControllerInfo getStingerArmPivotMotor();
 
-    public abstract boolean isCoralArmPivotAbsoluteEncoderReady();
+    public abstract boolean isStingerArmPivotAbsoluteEncoderReady();
 
-    public abstract DeviceInfo getCoralArmPivotAbsoluteEncoder();
+    public abstract DeviceInfo getStingerArmPivotAbsoluteEncoder();
 
-    public abstract boolean isCoralArmLowSensorReady();
+    public abstract boolean isStingerArmLowSensorReady();
 
-    public abstract DeviceInfo getCoralArmLowSensor();
+    public abstract DeviceInfo getStingerArmLowSensor();
 
     public abstract boolean isCoralScorerSensorReady();
 

src/main/java/competition/electrical_contract/RoboxContract.java

@@ -38,7 +38,7 @@ public boolean isElevatorBottomSensorReady() {
     }
 
     @Override
-    public boolean isCoralArmMotorReady() {
+    public boolean isStingerArmMotorReady() {
         return false;
     }
 

src/main/java/competition/electrical_contract/UnitTestContract2025.java

@@ -15,12 +15,12 @@ public UnitTestContract2025() {}
 
     public boolean isCoralScorerSensorReady() { return true;}
 
-    public boolean isCoralArmMotorReady() { return true; }
+    public boolean isStingerArmMotorReady() { return true; }
 
     // we don't have plans to have this sensor on the robot
-    public boolean isCoralArmPivotAbsoluteEncoderReady() { return false; }
+    public boolean isStingerArmPivotAbsoluteEncoderReady() { return false; }
 
-    public boolean isCoralArmLowSensorReady() { return true; }
+    public boolean isStingerArmLowSensorReady() { return true; }
 
     public boolean isElevatorReady() { return true;}
 

src/main/java/competition/injection/components/BaseRobotComponent.java

@@ -9,8 +9,8 @@
 import competition.subsystems.SubsystemDefaultCommandMap;
 import competition.subsystems.algae_arm.AlgaeArmSubsystem;
 import competition.subsystems.algae_collection.AlgaeCollectionSubsystem;
-import competition.subsystems.coral_arm.CoralArmSubsystem;
-import competition.subsystems.coral_scorer.CoralScorerSubsystem;
+import competition.subsystems.stinger_arm.StingerArmSubsystem;
+import competition.subsystems.stinger_collection.StingerCollectionSubsystem;
 import competition.subsystems.drive.commands.AlignToNearestCoralStationCommand;
 import competition.subsystems.drive.commands.EmergencyAutonomousCommand;
 import competition.subsystems.deadwheel.DeadWheelSubsystem;
@@ -45,11 +45,11 @@ public abstract class BaseRobotComponent extends BaseComponent {
 
     public abstract BaseSimulator simulator();
 
-    public abstract CoralArmSubsystem armPivotSubsystem();
+    public abstract StingerArmSubsystem armPivotSubsystem();
 
     public abstract ElevatorSubsystem elevatorSubsystem();
 
-    public abstract CoralScorerSubsystem coralScorerSubsystem();
+    public abstract StingerCollectionSubsystem coralScorerSubsystem();
 
     public abstract SuperstructureMechanismSubsystem superstructureMechanismSubsystem();
 
@@ -71,7 +71,7 @@ public abstract class BaseRobotComponent extends BaseComponent {
 
     public abstract AlgaeArmSubsystem algaeArmSubsystem();
 
-    public abstract CoralArmSubsystem coralArmSubsystem();
+    public abstract StingerArmSubsystem coralArmSubsystem();
 
     public abstract AlgaeCollectionSubsystem algaeCollectionSubsystem();
 

src/main/java/competition/injection/modules/CommonModule.java

@@ -1,7 +1,7 @@
 package competition.injection.modules;
 
 import competition.electrical_contract.ElectricalContract;
-import competition.subsystems.coral_scorer.CoralScorerSubsystem;
+import competition.subsystems.stinger_collection.StingerCollectionSubsystem;
 import competition.subsystems.drive.DriveSubsystem;
 import competition.subsystems.oracle.contracts.CoralCollectionInfoSource;
 import competition.subsystems.pose.PoseSubsystem;
@@ -107,5 +107,5 @@ public static GameField.Symmetry gameFieldSymmetry() {
 
     @Binds
     @Singleton
-    public abstract CoralCollectionInfoSource getCoralCollectionInfoSource(CoralScorerSubsystem impl);
+    public abstract CoralCollectionInfoSource getCoralCollectionInfoSource(StingerCollectionSubsystem impl);
 }

src/main/java/competition/operator_interface/OperatorCommandMap.java

@@ -16,14 +16,14 @@
 import competition.subsystems.algae_arm.commands.SetAlgaeArmSetpointToTargetPosition;
 import competition.subsystems.algae_collection.commands.AlgaeCollectionIntakeCommand;
 import competition.subsystems.algae_collection.commands.AlgaeCollectionOutputCommand;
-import competition.subsystems.coral_arm.CoralArmSubsystem;
-import competition.subsystems.coral_arm.commands.ForceCoralArmCalibratedCommand;
-import competition.subsystems.coral_arm.commands.SetCoralArmTargetAngleCommand;
-import competition.subsystems.coral_scorer.commands.IntakeAlgaeCommand;
-import competition.subsystems.coral_scorer.commands.IntakeCoralCommand;
-import competition.subsystems.coral_scorer.commands.ScoreAlgaeCommand;
-import competition.subsystems.coral_scorer.commands.ScoreCoralCommand;
-import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand;
+import competition.subsystems.stinger_arm.StingerArmSubsystem;
+import competition.subsystems.stinger_arm.commands.ForceStingerArmCalibratedCommand;
+import competition.subsystems.stinger_arm.commands.SetStingerArmTargetAngleCommand;
+import competition.subsystems.stinger_collection.commands.IntakeAlgaeCommand;
+import competition.subsystems.stinger_collection.commands.IntakeCoralCommand;
+import competition.subsystems.stinger_collection.commands.ScoreAlgaeCommand;
+import competition.subsystems.stinger_collection.commands.ScoreCoralCommand;
+import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand;
 import competition.subsystems.drive.DriveSubsystem;
 import competition.subsystems.drive.commands.AlignToReefWithAprilTagCommand;
 import competition.subsystems.drive.commands.CalibrateDriveCommand;
@@ -46,7 +46,6 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import org.kobe.xbot.Utilities.Entities.XTableValues;
 import xbot.common.controls.sensors.XXboxController;
 import xbot.common.subsystems.autonomous.SetAutonomousCommand;
 import xbot.common.subsystems.drive.swerve.commands.ChangeActiveSwerveModuleCommand;
@@ -146,13 +145,13 @@ public void setUpOperatorCommands(OperatorInterface oi,
                                       ScoreCoralCommand scoreCoralCommand,
                                       ScoreWhenReadyCommand scoreWhenReadyCommand,
                                       ForceElevatorCalibratedCommand forceElevatorCalibratedCommand,
-                                      ForceCoralArmCalibratedCommand forceCoralPivotCalibratedCommand,
+                                      ForceStingerArmCalibratedCommand forceCoralPivotCalibratedCommand,
                                       ForceAlgaeArmCalibrated forceAlgaeArmCalibrated,
                                       Provider<SetAlgaeArmSetpointToTargetPosition> setAlgaeArmProvider,
                                       AlgaeCollectionIntakeCommand intakeAlgae,
                                       AlgaeCollectionOutputCommand ejectAlgae,
                                       Provider<SetElevatorTargetHeightCommand> setElevatorTargetHeightCommandProvider,
-                                      CoralArmSubsystem coralArmSubsystem,
+                                      StingerArmSubsystem coralArmSubsystem,
                                       IntakeCoralCommand intakeCoralCommand,
                                       PrepAlgaeSystemCommandGroupFactory prepAlgaeSystemCommandGroupFactory,
                                       IntakeAlgaeCommand intakeAlgaeCommand,
@@ -216,10 +215,10 @@ public void setupSuperstructureGamepadCommands(
             OperatorInterface oi,
             IntakeCoralCommand intakeCoralCommand,
             ScoreCoralCommand scoreCoralCommand,
-            Provider<SetCoralArmTargetAngleCommand> setArmTargetAngleCommandProvider,
+            Provider<SetStingerArmTargetAngleCommand> setArmTargetAngleCommandProvider,
             Provider<SetElevatorTargetHeightCommand> setElevatorTargetHeightCommandProvider,
             ForceElevatorCalibratedCommand forceElevatorCalibratedCommand,
-            ForceCoralArmCalibratedCommand forceCoralArmCalibratedCommand,
+            ForceStingerArmCalibratedCommand forceCoralArmCalibratedCommand,
             RepositionAlgaeArmDown repositionAlgaeArmDown,
             RepositionAlgaeArmUp repositionAlgaeArmUp,
             ToggleElevatorMotionMagicCommand toggleElevatorMotionMagicCommand) {
@@ -258,7 +257,7 @@ public void setupSuperstructureGamepadCommands(
     }
 
     @Inject
-    public void setupNeoTrellis(OperatorInterface oi, CoralArmSubsystem coralArmSubsystem, TrimElevatorUp trimElevatorUp,
+    public void setupNeoTrellis(OperatorInterface oi, StingerArmSubsystem coralArmSubsystem, TrimElevatorUp trimElevatorUp,
                                 TrimElevatorDown trimElevatorDown) {
         oi.neoTrellis.getifAvailable(9)
                 .onTrue(coralArmSubsystem.createSetTargetCoralLevelCommand(Landmarks.CoralLevel.TWO));