moved to module directory

.gitignore

@@ -0,0 +1 @@
+/build

build.gradle

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+apply from: '../build.common.gradle'
+apply from: '../build.dependencies.gradle'
+
+android {
+    namespace = 'com.danpeled.swerveftclib'
+
+    packagingOptions {
+        jniLibs.useLegacyPackaging true
+    }
+}
+
+dependencies {
+    implementation project(':FtcRobotController')
+    implementation 'org.ftclib.ftclib:core:2.0.1' // core
+    annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+}

proguard-rules.pro

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+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

src/androidTest/java/com/danpeled/swerveftclib/ExampleInstrumentedTest.java

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+package com.danpeled.swerveftclib;
+
+import android.content.Context;
+
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+    @Test
+    public void useAppContext() {
+        // Context of the app under test.
+        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+        assertEquals("com.danpeled.swerveftclib.test", appContext.getPackageName());
+    }
+}

src/main/AndroidManifest.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+
+</manifest>

src/main/java/com/danpeled/swerveftclib/Swerve/SwerveCommands.java

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+package com.danpeled.swerveftclib.Swerve;
+
+import com.danpeled.swerveftclib.util.BaseDrive;
+import com.danpeled.swerveftclib.util.CommandUtil.CommandFor;
+import com.danpeled.swerveftclib.util.Location;
+
+import java.util.function.Supplier;
+
+public class SwerveCommands {
+
+    /**
+     * Command to set the power of the swerve drive in an oriented manner.
+     */
+    public static class SetPowerOriented extends CommandFor<SwerveDrive> {
+        private final Supplier<Double> m_supplierX, m_supplierY, m_supplierTurn;
+        private final boolean fieldOriented;
+
+        /**
+         * Constructs a new SetPowerOriented command.
+         *
+         * @param swerveDrive   The swerve drive subsystem.
+         * @param supplierX     The supplier for the X-axis power.
+         * @param supplierY     The supplier for the Y-axis power.
+         * @param supplierTurn  The supplier for the turning power.
+         * @param fieldOriented Whether the control is field-oriented.
+         */
+        public SetPowerOriented(SwerveDrive swerveDrive, Supplier<Double> supplierX, Supplier<Double> supplierY, Supplier<Double> supplierTurn, boolean fieldOriented) {
+            super(swerveDrive);
+            this.fieldOriented = fieldOriented;
+            this.m_supplierTurn = supplierTurn;
+            this.m_supplierX = supplierX;
+            this.m_supplierY = supplierY;
+        }
+
+        /**
+         * Executes the command to set the power of the swerve drive based on supplier input.
+         */
+        @Override
+        public void execute() {
+            double x = m_supplierX.get();
+            double y = m_supplierY.get();
+            double turn = m_supplierTurn.get();
+
+            if (Math.abs(x) < 0.1) x = 0;
+            if (Math.abs(y) < 0.1) y = 0;
+            if (Math.abs(turn) < 0.1) turn = 0;
+
+            subsystem.setPowerOriented(x, y, turn, fieldOriented);
+        }
+    }
+
+    /**
+     * Command to move the swerve drive to a specific location.
+     */
+    public static class GoTo extends CommandFor<SwerveDrive> {
+        private final Location m_location;
+        private final BaseDrive.GotoSettings m_config;
+        private final Runnable m_midwayAction;
+
+        /**
+         * Constructs a new GoTo command.
+         *
+         * @param swerveDrive  The swerve drive subsystem.
+         * @param location     The target location to move to.
+         * @param config       The configuration settings for the movement.
+         * @param midwayAction An optional action to perform midway through the movement.
+         */
+        public GoTo(SwerveDrive swerveDrive, Location location, BaseDrive.GotoSettings config, Runnable midwayAction) {
+            super(swerveDrive);
+            this.m_location = location;
+            this.m_config = config;
+            this.m_midwayAction = midwayAction;
+        }
+
+        /**
+         * Constructs a new GoTo command without a midway action.
+         *
+         * @param swerveDrive The swerve drive subsystem.
+         * @param location    The target location to move to.
+         * @param config      The configuration settings for the movement.
+         */
+        public GoTo(SwerveDrive swerveDrive, Location location, BaseDrive.GotoSettings config) {
+            this(swerveDrive, location, config, null);
+        }
+
+        /**
+         * Executes the command to move the swerve drive to the specified location.
+         */
+        @Override
+        public void execute() {
+            subsystem.goToLocation(m_location, m_config, m_midwayAction);
+        }
+    }
+
+    /**
+     * Command to turn the swerve drive to a specific angle.
+     */
+    public static class TurnTo extends CommandFor<SwerveDrive> {
+        private final double m_angle;
+        private final double m_power;
+
+        /**
+         * Constructs a new TurnTo command.
+         *
+         * @param swerveDrive The swerve drive subsystem.
+         * @param angle       The target angle to turn to.
+         * @param power       The power to apply while turning.
+         */
+        public TurnTo(SwerveDrive swerveDrive, double angle, double power) {
+            super(swerveDrive);
+            this.m_angle = angle;
+            this.m_power = power;
+        }
+
+        /**
+         * Executes the command to turn the swerve drive to the specified angle.
+         */
+        @Override
+        public void execute() {
+            subsystem.turnTo(m_angle, m_power);
+        }
+    }
+}