spelling corrections and remove unused imports

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

@@ -19,8 +19,8 @@
 import frc.robot.subsystems.ArduinoController;
 import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Claw;
-import frc.robot.subsystems.PhotonCameraUtil;
 import frc.robot.subsystems.Swerve;
+import frc.robot.subsystems.camera.LimelightCamera;
 import frc.robot.util.PatriBoxController;
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.DriveConstants;
@@ -40,7 +40,7 @@ public class RobotContainer {
     private final Swerve swerve;
     private final Arm arm;
     private final Claw claw;
-    private final PhotonCameraUtil photonVision;
+    private final LimelightCamera limelight;
     private final AutoAlignment autoAlignment;
     private final ArduinoController arduinoController;
     @SuppressWarnings("unused")
@@ -59,9 +59,9 @@ public RobotContainer() {
         swerve = new Swerve();
         arm = new Arm();
         claw = new Claw();
-        photonVision = new PhotonCameraUtil();
+        limelight = new LimelightCamera();
         autoPathStorage = new AutoPathStorage();
-        autoAlignment = new AutoAlignment(swerve, photonVision);
+        autoAlignment = new AutoAlignment(swerve, limelight);
         arduinoController = new ArduinoController();
 
         swerve.setDefaultCommand(new Drive(
@@ -74,7 +74,8 @@ public RobotContainer() {
             () -> (driver.y().getAsBoolean() && FieldConstants.ALLIANCE == Alliance.Blue)
         ));
 
-        photonVision.setDefaultCommand(autoAlignment.calibrateOdometry());
+        limelight.setDefaultCommand(
+            autoAlignment.calibrateOdometry());
 
         incinerateMotors();
         configureButtonBindings();
@@ -124,7 +125,7 @@ private void configureButtonBindings() {
                     setDriveSpeed(FieldConstants.ALIGNMENT_SPEED),
                     autoAlignment.setNearestValuesCommand(),
                     swerve.resetHDC(),
-                    swerve.setAlignemntSpeed(),
+                    swerve.setAlignmentSpeed(),
                     // Run a method to get our desired speeds autonomously
                     // combine that with the driver axis X
                     // then run a swerve drive command with that
@@ -202,7 +203,7 @@ private void configureButtonBindings() {
         operator.leftBumper().whileTrue(claw.setDesiredSpeedCommand(() -> PlacementConstants.CLAW_STOPPED_SPEED));
 
         operator.rightBumper().or(operator.rightStick()).and(arm::getAtPlacementPosition)
-            .onTrue(claw.outTakeforXSeconds(() -> PlacementConstants.CONE_MODE ? 0.1 : 0.3)
+            .onTrue(claw.outTakeForXSeconds(() -> PlacementConstants.CONE_MODE ? 0.1 : 0.3)
             .alongWith(arduinoController.setLEDStateCommand(() -> LEDConstants.BELLY_PAN_BLACK))
             .alongWith(arduinoController.setLEDStateCommand(
                 () -> PlacementConstants.CONE_MODE ? 
@@ -236,7 +237,7 @@ private void configureButtonBindings() {
                 PlacementConstants.CONE_MODE 
                     ? LEDConstants.BELLY_PAN_YELLOW 
                     : LEDConstants.BELLY_PAN_PURPLE))
-        .and(claw::justAquiredGameElement)
+        .and(claw::justAcquiredGameElement)
             .onTrue(arduinoController.setLEDStateCommand(() ->
                 PlacementConstants.CONE_MODE 
                     ? LEDConstants.BELLY_PAN_YELLOW_BLINK 
@@ -270,7 +271,7 @@ public void generateEventMap() {
 
         AutoConstants.EVENT_MAP.put("PlacePiece",
             arm.finishPlacmentCommand()
-            .andThen(claw.outTakeforXSeconds(() -> 0.15))
+            .andThen(claw.outTakeForXSeconds(() -> 0.15))
             .andThen(arm.getAutoStowCommand())
         );
 

src/main/java/frc/robot/commands/Drive.java

@@ -5,10 +5,8 @@
 import java.util.function.Supplier;
 
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Swerve;
-import frc.robot.util.Constants.FieldConstants;
 
 public class Drive extends CommandBase {
 

src/main/java/frc/robot/commands/auto/AutoPathStorage.java

@@ -1,10 +1,7 @@
 package frc.robot.commands.auto;
 
-import com.pathplanner.lib.PathConstraints;
 import com.pathplanner.lib.PathPlanner;
 import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.PathPoint;
-
 import frc.robot.DriverUI;
 import frc.robot.util.Constants.AutoConstants;
 

src/main/java/frc/robot/subsystems/Claw.java

@@ -10,7 +10,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.DriverUI;
 import frc.robot.util.Constants.ClawConstants;
 import frc.robot.util.Constants.FieldConstants;
@@ -53,17 +52,17 @@ public void periodic() {
          * Output generally is -0.25 < appliedOutput < 0
          * When grabbygrab
          * Current is generally 15 < current < 30
-         * Which is a big range unfortunatly.
-         * I am not sure where the curernt > 30 came from
+         * Which is a big range unfortunately.
+         * I am not sure where the current > 30 came from
          * I am having a hard time getting that read again on the graph anymore
          * Let's just go with > 15 for now
          * 
-         * Laslty, desiredSpeed is ALWAYS > 0.45 when we are intaking
+         * Lastly, desiredSpeed is ALWAYS > 0.45 when we are intaking
          * Which is a good indicator of finding if the claw is just getting up
          * to speed or if it is stalled
          *
          * The problem with having a boolean this sophisticated
-         * Is that there are too many independant variables to check
+         * Is that there are too many independent variables to check
          * And if a single one is off, the boolean will be false
          *
          * Idea: use a startedIntakingTimestamp to check
@@ -156,7 +155,7 @@ public double getDesiredSpeed() {
         return this.desiredSpeed;
     }
 
-    public Command outTakeforXSeconds(DoubleSupplier X) {
+    public Command outTakeForXSeconds(DoubleSupplier X) {
         return runOnce(() -> {
             setDesiredSpeed(PlacementConstants.CLAW_OUTTAKE_SPEED_CONE);
         }).andThen(Commands.waitSeconds(X.getAsDouble())
@@ -173,7 +172,7 @@ public boolean hasGameElement() {
         return hasGameElement;
     }
 
-    public boolean justAquiredGameElement() {
+    public boolean justAcquiredGameElement() {
         return !hasGameElementOneLoopBehind && hasGameElement;
     }
 

src/main/java/frc/robot/subsystems/Swerve.java

@@ -328,7 +328,7 @@ public void driveInAuto(ChassisSpeeds speeds) {
      */
     /**
      * Credit: WPIlib 2024
-     * Discretizes a continuous-time chassis speed.
+     * Discretize a continuous-time chassis speed.
      *
      * @param vx    Forward velocity.
      * @param vy    Sideways velocity.
@@ -491,7 +491,7 @@ public void setSpeedMultiplier(double speedMultiplier) {
         this.speedMultiplier = speedMultiplier;
     }
 
-    public Command setAlignemntSpeed() {
+    public Command setAlignmentSpeed() {
         return runOnce(() -> {
                 DriveConstants.MAX_SPEED_METERS_PER_SECOND = FieldConstants.ALIGNMENT_SPEED;
         });