added all folders (didn't add util)

src/main/java/first/robot/Constants.java

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+

src/main/java/first/robot/util/AllianceFlipUtil.java

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+package first.robot.util;
+
+import first.robot.FieldConstants;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Translation2d;
+
+public class AllianceFlipUtil {
+  public static double fieldWidth = FieldConstants.fieldWidth;
+  public static double fieldLength = FieldConstants.fieldLength;
+
+  public static double applyX(double x) {
+    return shouldFlip() ? fieldLength - x : x;
+  }
+
+  public static double applyY(double y) {
+    return shouldFlip() ? fieldWidth - y : y;
+  }
+
+  public static Translation2d apply(Translation2d translation) {
+    return new Translation2d(applyX(translation.getX()), applyY(translation.getY()));
+  }
+
+  public static Rotation2d apply(Rotation2d rotation) {
+    return shouldFlip() ? rotation.rotateBy(Rotation2d.kPi) : rotation;
+  }
+
+  public static Pose2d apply(Pose2d pose) {
+    return new Pose2d(apply(pose.getTranslation()), apply(pose.getRotation()));
+  }
+
+  public static double overrideApplyX(double x) {
+    return fieldLength - x;
+  }
+
+  public static double overrideApplyY(double y) {
+    return fieldWidth - y;
+  }
+
+  public static Translation2d overrideApply(Translation2d translation) {
+    return new Translation2d(
+        overrideApplyX(translation.getX()), overrideApplyY(translation.getY()));
+  }
+
+  public static Rotation2d overrideApply(Rotation2d rotation) {
+    return rotation.rotateBy(Rotation2d.kPi);
+  }
+
+  public static Pose2d overrideApply(Pose2d pose) {
+    return new Pose2d(overrideApply(pose.getTranslation()), overrideApply(pose.getRotation()));
+  }
+
+  public static boolean shouldFlip() {
+    return MatchState.getAlliance().isPresent() && MatchState.getAlliance().get() == Alliance.RED;
+  }
+}

src/main/java/first/robot/v3_Horse_CV2_OPR/commands/V3_Horse_CV2_OPRCompositeCommands.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/commands/autonomous/V3_Horse_CV2_OPRAutoLeftTrench.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/subsystems/V3_Horse_CV2_OPRConstants.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/subsystems/V3_Horse_CV2_OPRMechanism3D.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/subsystems/V3_Horse_CV2_OPRRobotContainer.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/subsystems/V3_Horse_CV2_OPRRobotState.java

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+

src/main/java/first/robot/v3_Horse_CV2_OPR/subsystems/V3_Horse_CV2_OPRTunerConstants.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/commands/V3_Horse_CV2_TRCompositeCommands.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/commands/autonomous/V3_Horse_CV2_TRAutoLeftTrench.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/subsystems/V3_Horse_CV2_TRConstants.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/subsystems/V3_Horse_CV2_TRMechanism3D.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/subsystems/V3_Horse_CV2_TRRobotContainer.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/subsystems/V3_Horse_CV2_TRRobotState.java

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+

src/main/java/first/robot/v3_Horse_CV2_TR/subsystems/V3_Horse_CV2_TRTunerConstants.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/commands/V3_Horse_CV3_OPRCompositeCommands.java

@@ -0,0 +1 @@
+

src/main/java/first/robot/v3_Horse_CV3_OPR/commands/autonomous/V3_Horse_CV3_OPRAutoLeftTrench.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/subsystems/V3_Horse_CV3_OPRConstants.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/subsystems/V3_Horse_CV3_OPRMechanism3D.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/subsystems/V3_Horse_CV3_OPRRobotContainer.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/subsystems/V3_Horse_CV3_OPRRobotState.java

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+

src/main/java/first/robot/v3_Horse_CV3_OPR/subsystems/V3_Horse_CV3_OPRTunerConstants.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/commands/V3_Horse_CV3_TRCompositeCommands.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/commands/autonomous/V3_Horse_CV3_TRAutoLeftTrench.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/subsystems/V3_Horse_CV3_TRConstants.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/subsystems/V3_Horse_CV3_TRMechanism3D.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/subsystems/V3_Horse_CV3_TRRobotContainer.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/subsystems/V3_Horse_CV3_TRRobotState.java

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+

src/main/java/first/robot/v3_Horse_CV3_TR/subsystems/V3_Horse_CV3_TRTunerConstants.java

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+