Change file names to match new conventions

src/main/java/frc/robot/RobotContainer.java

@@ -25,9 +25,9 @@
 import frc.robot.subsystems.swerve.moduleIO.ModuleInterface;
 import frc.robot.subsystems.swerve.moduleIO.PhysicalModule;
 import frc.robot.subsystems.swerve.moduleIO.SimulatedModule;
+import frc.robot.subsystems.vision.PhysicalVision;
 import frc.robot.subsystems.vision.Vision;
-import frc.robot.subsystems.vision.VisionIO;
-import frc.robot.subsystems.vision.VisionIOReal;
+import frc.robot.subsystems.vision.VisionInterface;
 import java.util.function.DoubleSupplier;
 import org.littletonrobotics.junction.Logger;
 
@@ -67,7 +67,7 @@
                 new PhysicalModule(SwerveConstants.moduleConfigs[1]),
                 new PhysicalModule(SwerveConstants.moduleConfigs[2]),
                 new PhysicalModule(SwerveConstants.moduleConfigs[3]));
-        visionSubsystem = new Vision(new VisionIOReal());
+        visionSubsystem = new Vision(new PhysicalVision());
       }
 
       case SIM -> {
@@ -106,15 +106,15 @@
                 new SimulatedModule(swerveDriveSimulation.getModules()[3]));
 
         // TODO: add sim impl
-        visionSubsystem = new Vision(new VisionIO() {});
+        visionSubsystem = new Vision(new VisionInterface() {});
 
         SimulatedField.getInstance().resetFieldForAuto();
         resetFieldAndOdometryForAuto(
             new Pose2d(1.3980597257614136, 5.493067741394043, Rotation2d.fromRadians(3.1415)));
       }
 
       default -> {
-        visionSubsystem = new Vision(new VisionIO() {});
+        visionSubsystem = new Vision(new VisionInterface() {});
         /* Replayed robot, disable IO implementations */
 
         /* physics simulations are also not needed */
@@ -168,13 +168,13 @@
           () -> JoystickUtil.modifyAxisCubedPolar(driverLeftStickX, driverLeftStickY)[1]
         };
 
     DoubleSupplier operatorLeftStickX = operatorController::getLeftX;
     DoubleSupplier operatorRightStickY = operatorController::getRightY;
 
     Trigger driverRightBumper = new Trigger(driverController.rightBumper());
     Trigger driverRightDirectionPad = new Trigger(driverController.pov(90));
     Trigger driverDownDirectionPad = new Trigger(driverController.pov(180));
     Trigger driverLeftDirectionPad = new Trigger(driverController.pov(270));
 
     // // autodrive
     // Trigger driverAButton = new Trigger(driverController::getAButton);

src/main/java/frc/robot/subsystems/elevator/Elevator.java

@@ -4,12 +4,12 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Elevator extends SubsystemBase {
-  private final ElevatorIO io;
-  private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
+  private final ElevatorInterface elevatorInterface;
+  private final ElevatorInputsAutoLogged inputs = new ElevatorInputsAutoLogged();
 
-  public Elevator(ElevatorIO io) {
+  public Elevator(ElevatorInterface elevatorInterface) {
     super("Elevator");
-    this.io = io;
+    this.elevatorInterface = elevatorInterface;
   }
 
   /**
@@ -19,7 +19,7 @@ public Elevator(ElevatorIO io) {
    */
   public void setElevatorPosition(double position) {
     Logger.recordOutput("Elevator", position);
-    io.setElevatorPosition(position);
+    elevatorInterface.setElevatorPosition(position);
   }
 
   /**
@@ -28,12 +28,12 @@ public void setElevatorPosition(double position) {
    * @param speed output value from -1.0 to 1.0
    */
   public void setElevatorSpeed(double speed) {
-    io.setElevatorSpeed(speed);
+    elevatorInterface.setElevatorSpeed(speed);
   }
 
   @Override
   public void periodic() {
-    io.updateInputs(inputs);
+    elevatorInterface.updateInputs(inputs);
     Logger.processInputs("Elevator", inputs);
   }
 }

src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java → src/main/java/frc/robot/subsystems/elevator/ElevatorInterface.java

@@ -2,9 +2,9 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
-public interface ElevatorIO {
+public interface ElevatorInterface {
   @AutoLog
-  public static class ElevatorIOInputs {
+  public static class ElevatorInputs {
     public boolean isConnected = false;
 
     public double leaderMotorPosition = 0.0;
@@ -18,7 +18,7 @@ public static class ElevatorIOInputs {
     public double followerMotorCurrentAmps = 0.0;
   }
 
-  public default void updateInputs(ElevatorIOInputs inputs) {}
+  public default void updateInputs(ElevatorInputs inputs) {}
 
   public default double getElevatorPosition() {
     return 0.0;

src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java → src/main/java/frc/robot/subsystems/elevator/PhysicalElevator.java

@@ -17,8 +17,9 @@
 import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Voltage;
 import frc.robot.Constants.HardwareConstants;
+import frc.robot.subsystems.elevator.ElevatorInterface.ElevatorInputs;
 
-public class ElevatorIOTalonFX implements ElevatorIO {
+public class PhysicalElevator implements ElevatorInterface {
   private final TalonFX leaderElevatorMotor;
   private final TalonFX followerElevatorMotor;
 
@@ -36,7 +37,7 @@ public class ElevatorIOTalonFX implements ElevatorIO {
   StatusSignal<Voltage> followerAppliedVolts;
   StatusSignal<Current> followerCurrentAmps;
 
-  public ElevatorIOTalonFX() {
+  public PhysicalElevator() {
     leaderElevatorMotor = new TalonFX(0);
     followerElevatorMotor = new TalonFX(0);
 
@@ -106,7 +107,7 @@ public ElevatorIOTalonFX() {
   }
 
   @Override
-  public void updateInputs(ElevatorIOInputs inputs) {
+  public void updateInputs(ElevatorInputs inputs) {
     inputs.isConnected =
         BaseStatusSignal.isAllGood(
             leaderPosition,

src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java → src/main/java/frc/robot/subsystems/elevator/SimulatedElevator.java

@@ -9,13 +9,13 @@
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
 
-public class ElevatorIOSim implements ElevatorIO {
+public class SimulatedElevator implements ElevatorInterface {
   ElevatorSim elevatorSim;
   LinearSystem<N2, N1, N2> elevatorSystem;
   private double elevatorAppliedVolts = 0.0;
   private final PIDController elevatorPID = new PIDController(0.0, 0.0, 0.0);
 
-  public ElevatorIOSim() {
+  public SimulatedElevator() {
     this.elevatorSystem = LinearSystemId.createElevatorSystem(DCMotor.getFalcon500(2), 0, 0, 0);
     this.elevatorSim =
         new ElevatorSim(
@@ -28,7 +28,7 @@ public ElevatorIOSim() {
   }
 
   @Override
-  public void updateInputs(ElevatorIOInputs inputs) {
+  public void updateInputs(ElevatorInputs inputs) {
     elevatorSim.update(0.02);
 
     inputs.isConnected = true;

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -4,11 +4,11 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Indexer extends SubsystemBase {
-  private IndexerIO io;
-  private IndexerIOInputsAutoLogged inputs = new IndexerIOInputsAutoLogged();
+  private IndexerInterface indexerInterface;
+  private IndexerInterfaceInputsAutoLogged inputs = new IndexerInterfaceInputsAutoLogged();
 
-  public Indexer(IndexerIO io) {
-    this.io = io;
+  public Indexer(IndexerInterface indexerInterface) {
+    this.indexerInterface = indexerInterface;
   }
 
   /**
@@ -17,18 +17,18 @@ public Indexer(IndexerIO io) {
    * @param speed The desired speed (-1.0 to 1.0)
    */
   public void setIndexerSpeed(double speed) {
-    io.setSpeed(speed);
+    indexerInterface.setSpeed(speed);
     Logger.recordOutput("Indexer", speed);
   }
 
   /** Stops the motor */
   public void stop() {
-    io.stop();
+    indexerInterface.stop();
   }
 
   @Override
   public void periodic() {
-    io.updateInputs(inputs);
+    indexerInterface.updateInputs(inputs);
     Logger.processInputs("Indexer", inputs);
   }
 }

src/main/java/frc/robot/subsystems/indexer/IndexerIO.java → src/main/java/frc/robot/subsystems/indexer/IndexerInterface.java

@@ -2,9 +2,9 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
-public interface IndexerIO {
+public interface IndexerInterface {
   @AutoLog
-  public static class IndexerIOInputs {
+  public static class IndexerInputs {
     public boolean isConnected = false;
     public double indexerVelocity = 0.0;
     public double indexerAppliedVolts = 0.0;
@@ -13,7 +13,7 @@ public static class IndexerIOInputs {
     public double indexerSupplyCurrentAmps = 0.0;
   }
 
-  default void updateInputs(IndexerIOInputs inputs) {}
+  default void updateInputs(IndexerInputs inputs) {}
 
   default boolean isIndexing() {
     return false;

src/main/java/frc/robot/subsystems/indexer/IndexerIOTalonFX.java → src/main/java/frc/robot/subsystems/indexer/PhysicalIndexer.java

@@ -12,7 +12,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import frc.robot.Constants.HardwareConstants;
 
-public class IndexerIOTalonFX implements IndexerIO {
+public class PhysicalIndexer implements IndexerInterface {
   private final TalonFX indexerMotor = new TalonFX(0);
 
   private final StatusSignal<AngularVelocity> indexerVelocity;
@@ -21,7 +21,7 @@ public class IndexerIOTalonFX implements IndexerIO {
   private final StatusSignal<Current> indexerSupplyCurrentAmps;
   private final StatusSignal<Temperature> indexerTemp;
 
-  public IndexerIOTalonFX() {
+  public PhysicalIndexer() {
     TalonFXConfiguration indexerConfiguration = new TalonFXConfiguration();
     indexerConfiguration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
     indexerConfiguration.MotorOutput.DutyCycleNeutralDeadband =
@@ -52,7 +52,7 @@ public IndexerIOTalonFX() {
   }
 
   @Override
-  public void updateInputs(IndexerIOInputs inputs) {
+  public void updateInputs(IndexerInputs inputs) {
     inputs.indexerAppliedVolts = indexerAppliedVolts.getValueAsDouble();
     inputs.indexerStatorCurrentAmps = indexerStatorCurrentAmps.getValueAsDouble();
     inputs.indexerSupplyCurrentAmps = indexerSupplyCurrentAmps.getValueAsDouble();

src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java → src/main/java/frc/robot/subsystems/indexer/SimulatedIndexer.java

@@ -3,12 +3,12 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 
-public class IndexerIOSim implements IndexerIO {
+public class SimulatedIndexer implements IndexerInterface {
   private final DCMotorSim indexerSim = new DCMotorSim(null, DCMotor.getFalcon500(1), 0);
 
   private double indexerAppliedVolts = 0.0;
 
-  public IndexerIOSim(IndexerIOInputs inputs) {
+  public SimulatedIndexer(IndexerInputs inputs) {
     indexerSim.update(0.02);
 
     inputs.isConnected = true;

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -5,11 +5,11 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Intake extends SubsystemBase {
-  private IntakeIO io;
-  private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
+  private IntakeInterface intakeInterface;
+  private IntakeInterfaceInputsAutoLogged inputs = new IntakeInterfaceInputsAutoLogged();
 
-  public Intake(IntakeIO io) {
-    this.io = io;
+  public Intake(IntakeInterface intakeInterface) {
+    this.intakeInterface = intakeInterface;
   }
 
   /**
@@ -19,7 +19,7 @@ public Intake(IntakeIO io) {
    */
   public void setPivotAngle(double angle) {
     double angleRots = Units.degreesToRotations(angle);
-    io.setPivotPosition(angleRots);
+    intakeInterface.setPivotPosition(angleRots);
     Logger.recordOutput("OTBIntake/Pivot", angleRots);
   }
 
@@ -29,21 +29,21 @@ public void setPivotAngle(double angle) {
    * @param speed intake roller speed (-1.0 to 1.0)
    */
   public void setIntakeSpeed(double speed) {
-    io.setIntakeSpeed(speed);
+    intakeInterface.setIntakeSpeed(speed);
     Logger.recordOutput("OTBIntake/Intake", speed);
   }
 
   public void setPivotSpeed(double speed) {
-    io.setPivotSpeed(speed);
+    intakeInterface.setPivotSpeed(speed);
   }
 
   public void getPivotPosition() {
-    io.getPivotPosition();
+    intakeInterface.getPivotPosition();
   }
 
   @Override
   public void periodic() {
-    io.updateInputs(inputs);
+    intakeInterface.updateInputs(inputs);
     Logger.processInputs("OTBIntake", inputs);
   }
 }

src/main/java/frc/robot/subsystems/intake/IntakeIO.java → src/main/java/frc/robot/subsystems/intake/IntakeInterface.java

@@ -2,9 +2,9 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
-public interface IntakeIO {
+public interface IntakeInterface {
   @AutoLog
-  public static class IntakeIOInputs {
+  public static class IntakeInputs {
     public boolean isConnected = true;
 
     // intake motor
@@ -21,7 +21,7 @@ public static class IntakeIOInputs {
     public double pivotCurrentAmps = 0.0;
   }
 
-  default void updateInputs(IntakeIOInputs inputs) {}
+  default void updateInputs(IntakeInputs inputs) {}
 
   default void setPivotPosition(double position) {}
 

src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java → src/main/java/frc/robot/subsystems/intake/PhysicalIntake.java

@@ -12,7 +12,7 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.Constants.HardwareConstants;
 
-public class IntakeIOTalonFX implements IntakeIO {
+public class PhysicalIntake implements IntakeInterface {
   private final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
   private final TalonFX leaderPivotMotor = new TalonFX(IntakeConstants.LEFT_INTAKE_PIVOT_MOTOR_ID);
   private final TalonFX followerPivotMotor =
@@ -24,7 +24,7 @@ public class IntakeIOTalonFX implements IntakeIO {
   private final StatusSignal<Angle> pivotPosition;
   private final StatusSignal<AngularVelocity> pivotVelocity;
 
-  public IntakeIOTalonFX() {
+  public PhysicalIntake() {
     TalonFXConfiguration intakeConfig = new TalonFXConfiguration();
 
     intakeConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
@@ -82,7 +82,7 @@ public IntakeIOTalonFX() {
   }
 
   @Override
-  public void updateInputs(IntakeIOInputs inputs) {
+  public void updateInputs(IntakeInputs inputs) {
     inputs.intakeVelocity = intakeVelocity.getValueAsDouble();
     inputs.pivotPosition = pivotPosition.getValueAsDouble();
     inputs.pivotVelocity = pivotVelocity.getValueAsDouble();

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java → src/main/java/frc/robot/subsystems/intake/SimulatedIntake.java

@@ -6,9 +6,8 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
-import frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs;
 
-public class IntakeIOSim implements IntakeIO {
+public class SimulatedIntake implements IntakeInterface {
   DCMotorSim intakeSim = new DCMotorSim(null, DCMotor.getFalcon500(1), 0);
   SingleJointedArmSim pivotSim =
       new SingleJointedArmSim(
@@ -22,7 +21,7 @@ public class IntakeIOSim implements IntakeIO {
   private double intakeAppliedVolts = 0.0;
   private double pivotAppliedVolts = 0.0;
 
-  public IntakeIOSim(IntakeIOInputs inputs) {
+  public SimulatedIntake(IntakeInputs inputs) {
     intakeSim.update(0.02);
     pivotSim.update(0.02);