Problem
frc.lib and frc.robot.util are both grab-bag "miscellaneous" packages with overlapping/unclear scope:
frc.lib (12 files): controller/HID classes, match-setup selectors, hardware logging wrappers, and a generic Util interface.frc.robot.util (7 files): vendor-specific odometry threads, a vision thread, an AdvantageKit pathfinding helper, and a system-health monitor.
Two similarly-vague "misc" packages make it hard to find related code and invites further dumping of unrelated classes.
Proposed layout
Group by domain instead of by "is it reusable across robots" vs "is it specific to this robot":
frc.lib.input (controller/HID)
ZorroController.javaCommandZorroController.javaControllerSelector.java
frc.lib.autoselect (match setup / autonomous selection)
AllianceSelector.javaAllianceSelectorIO.javaAutoOption.javaAutoSelector.javaAutoSelectorIO.java
frc.lib.hardware (logged/simulated hardware wrappers)
LoggedCompressor.javaLoggedPowerDistribution.javaPneumaticsSimulator.javaKernelLogMonitor.java (moved from frc.robot.util)
frc.lib (root, kept minimal)
Util.java (generic helpers: allianceToColor, nearlyEqual)
frc.robot.util.odometry (vendor-specific odometry threads/helpers)
CanandgyroThread.javaSparkOdometryThread.javaPhoenixUtil.javaSparkUtil.java
Move out of frc.robot.util entirely:
VisionThread.java -> frc.robot.subsystems.vision (already imports heavily from there)LocalADStarAK.java -> frc.robot.auto (AdvantageKit pathfinding helper, belongs with autonomous code)
Notes
- This is a pure repackaging (import-path updates only), touching ~19 files plus all referencing files across the codebase.
- Hold until the WPILib 2027 alpha migration (
main-2027) is unblocked and merged, to avoid compounding two large mechanical diffs.
Problem
frc.libandfrc.robot.utilare both grab-bag "miscellaneous" packages with overlapping/unclear scope:frc.lib(12 files): controller/HID classes, match-setup selectors, hardware logging wrappers, and a genericUtilinterface.frc.robot.util(7 files): vendor-specific odometry threads, a vision thread, an AdvantageKit pathfinding helper, and a system-health monitor.Two similarly-vague "misc" packages make it hard to find related code and invites further dumping of unrelated classes.
Proposed layout
Group by domain instead of by "is it reusable across robots" vs "is it specific to this robot":
frc.lib.input(controller/HID)ZorroController.javaCommandZorroController.javaControllerSelector.javafrc.lib.autoselect(match setup / autonomous selection)AllianceSelector.javaAllianceSelectorIO.javaAutoOption.javaAutoSelector.javaAutoSelectorIO.javafrc.lib.hardware(logged/simulated hardware wrappers)LoggedCompressor.javaLoggedPowerDistribution.javaPneumaticsSimulator.javaKernelLogMonitor.java(moved fromfrc.robot.util)frc.lib(root, kept minimal)Util.java(generic helpers:allianceToColor,nearlyEqual)frc.robot.util.odometry(vendor-specific odometry threads/helpers)CanandgyroThread.javaSparkOdometryThread.javaPhoenixUtil.javaSparkUtil.javaMove out of
frc.robot.utilentirely:VisionThread.java->frc.robot.subsystems.vision(already imports heavily from there)LocalADStarAK.java->frc.robot.auto(AdvantageKit pathfinding helper, belongs with autonomous code)Notes
main-2027) is unblocked and merged, to avoid compounding two large mechanical diffs.