Restructured linux to match Windows

windows/templates/Drive.java

@@ -0,0 +1,70 @@
+package robot.subsystems;
+
+import robot.Pose2d;
+
+/**
+ * Drive subsystem - business logic only.
+ * Hardware interface defined as inner interface.
+ * Tests use inline mocks - no FTC SDK needed.
+ */
+public class Drive {
+    private final Hardware hardware;
+    private Pose2d pose;
+    
+    public Drive(Hardware hardware) {
+        this.hardware = hardware;
+        this.pose = new Pose2d();
+    }
+    
+    /**
+     * Drive using field-centric controls.
+     * @param forward Forward/backward speed (-1.0 to 1.0)
+     * @param strafe Left/right speed (-1.0 to 1.0)
+     * @param rotate Rotation speed (-1.0 to 1.0)
+     */
+    public void drive(double forward, double strafe, double rotate) {
+        // Your drive logic here
+        double heading = hardware.getHeading();
+        
+        // Example: field-centric conversion
+        double cos = Math.cos(heading);
+        double sin = Math.sin(heading);
+        
+        double rotatedForward = forward * cos - strafe * sin;
+        double rotatedStrafe = forward * sin + strafe * cos;
+        
+        hardware.setPowers(rotatedForward, rotatedStrafe, rotate);
+    }
+    
+    /**
+     * Stop all drive motors.
+     */
+    public void stop() {
+        hardware.setPowers(0, 0, 0);
+    }
+    
+    /**
+     * Get current estimated pose.
+     */
+    public Pose2d getPose() {
+        return pose;
+    }
+    
+    /**
+     * Hardware interface - implement this for real robot.
+     */
+    public interface Hardware {
+        /**
+         * Get robot heading in radians.
+         */
+        double getHeading();
+        
+        /**
+         * Set drive motor powers.
+         * @param forward Forward power
+         * @param strafe Strafe power
+         * @param rotate Rotation power
+         */
+        void setPowers(double forward, double strafe, double rotate);
+    }
+}