refactor: Continue WIP.

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

@@ -21,7 +21,7 @@
 public class RobotContainer {
 
   /** Robot container singleton. */
-  public static RobotContainer instance = null;
+  private static RobotContainer instance = null;
 
   /** Arm subsystem reference. */
   private final Arm arm;
@@ -129,7 +129,7 @@ private void configureBindings() {
    * @param side the side of the controller to rumble.
    * @return a command that rumbles the controller.
    */
-  public Command rumble(RumbleType side) {
+  private Command rumble(RumbleType side) {
     return Commands.startEnd(
         () -> rumbleController.setRumble(side, 1), () -> rumbleController.setRumble(side, 0));
   }

src/main/java/frc/robot/arm/Arm.java

@@ -19,7 +19,7 @@
 /** Arm subsystem. */
 public class Arm extends Subsystem {
 
-  /** Arm singleton. */
+  /** Arm subsystem singleton. */
   private static Arm instance = null;
 
   /** Shoulder controller config. */

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

@@ -14,7 +14,7 @@
 /** Intake subsystem. */
 public class Intake extends Subsystem {
 
-  /** Intake singleton. */
+  /** Intake subsystem singleton. */
   private static Intake instance = null;
 
   /** Front roller controller config. */

src/main/java/frc/robot/odometry/Odometry.java

@@ -23,7 +23,7 @@
 /** Odometry subsystem. */
 public class Odometry extends Subsystem {
 
-  /** Odometry singleton. */
+  /** Odometry subsystem singleton. */
   private static Odometry instance = null;
 
   /** Gyroscope. */

src/main/java/frc/robot/shooter/Shooter.java

@@ -15,7 +15,7 @@
 /** Shooter subsystem. */
 public class Shooter extends Subsystem {
 
-  /** Shooter singleton. */
+  /** Shooter subsystem singleton. */
   private static Shooter instance = null;
 
   /** Flywheel controller config. */

src/main/java/frc/robot/superstructure/Superstructure.java

@@ -17,7 +17,7 @@
 /** Superstructure subsystem. */
 public class Superstructure extends Subsystem {
 
-  /** Superstructure singleton. */
+  /** Superstructure subsystem singleton. */
   private static Superstructure instance = null;
 
   /** Arm subsystem reference. */

src/main/java/frc/robot/swerve/DriveCommand.java

@@ -1,8 +1,6 @@
 package frc.robot.swerve;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -11,29 +9,37 @@
 
 /** Drives the swerve using driver input. */
 public class DriveCommand extends Command {
-  /* Swerve subsystem. */
+  /** Swerve subsystem. */
   private final Swerve swerve;
-  /* Odometry subsystem. */
+
+  /** Odometry subsystem. */
   private final Odometry odometry;
 
-  /* Xbox controller used to get driver input. */
+  /** Controller used to get driver input. */
   private final CommandXboxController driverController;
 
   /** Previous requested chassis speed. */
   private ChassisSpeeds previousChassisSpeeds;
 
-  /* Current and previous requests from the driver controller. */
+  /** Request from the driver controller. */
   private DriveRequest request;
 
+  /**
+   * Initializes the drive command.
+   *
+   * @param driverController controller to use as input.
+   */
   public DriveCommand(CommandXboxController driverController) {
     swerve = Swerve.getInstance();
     odometry = Odometry.getInstance();
 
+    this.driverController = driverController;
+
     addRequirements(swerve);
 
     previousChassisSpeeds = new ChassisSpeeds();
 
-    this.driverController = driverController;
+    request = DriveRequest.fromController(driverController);
   }
 
   @Override
@@ -43,22 +49,13 @@ public void initialize() {}
   public void execute() {
     request = DriveRequest.fromController(driverController);
 
-    Translation2d translationVelocityMetersPerSecond =
-        request.translation().times(SwerveConstants.MAXIMUM_SPEED);
-
-    Rotation2d driverRelativeHeading = odometry.getDriverRelativeHeading();
-
-    Rotation2d omega = new Rotation2d();
-
-    omega = request.omega();
-
-    ChassisSpeeds chassisSpeeds =
+    final ChassisSpeeds chassisSpeeds =
         clampChassisSpeeds(
             ChassisSpeeds.fromFieldRelativeSpeeds(
-                translationVelocityMetersPerSecond.getX(),
-                translationVelocityMetersPerSecond.getY(),
-                omega.getRadians(),
-                driverRelativeHeading));
+                request.velocity().getX(),
+                request.velocity().getY(),
+                request.omega().getRadians(),
+                odometry.getDriverRelativeHeading()));
 
     swerve.setChassisSpeeds(chassisSpeeds);
 

src/main/java/frc/robot/swerve/DriveRequest.java

@@ -5,35 +5,52 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
+/** Drive request. */
 public record DriveRequest(
     DriveRequest.TranslationMode translationMode,
     DriveRequest.RotationMode rotationMode,
-    Translation2d translation,
-    Translation2d rotation) {
+    Translation2d translationAxis,
+    Translation2d rotationAxis) {
 
-  public enum TranslationMode {
+  /** Translation mode. */
+  private enum TranslationMode {
+    /** Field-centric driving. */
     FIELD_CENTRIC,
+    /** Robot-centric driving. */
     ROBOT_CENTRIC
   }
 
-  public enum RotationMode {
+  /** Rotation mode. */
+  private enum RotationMode {
+    /** Drifting (no rotation requested). */
     DRIFTING,
+    /** Spinning (velocity requested). */
     SPINNING,
-    SNAPPING
+    /** Aligning (heading requested). */
+    ALIGNING
   }
 
+  /**
+   * Returns true if no rotation is requested.
+   *
+   * @param heading the heading axis.
+   * @param aligning true if aligning is requested.
+   * @return
+   */
   private static boolean isDrifting(Translation2d heading, boolean aligning) {
     if (aligning) {
-      final double kMinHeadingDisplacement = 0.7;
-
-      return heading.getNorm() < kMinHeadingDisplacement;
+      return heading.getNorm() < 0.7;
     }
 
-    final double kOmegaDeadband = 0.1;
-
-    return Math.abs(heading.getY()) < kOmegaDeadband;
+    return Math.abs(heading.getY()) < 0.1;
   }
 
+  /**
+   * Creates a new driver request from controller inputs.
+   *
+   * @param controller the input controller.
+   * @return a new driver request from controller inputs.
+   */
   public static DriveRequest fromController(CommandXboxController controller) {
     boolean snipingRequested = Math.abs(controller.getLeftTriggerAxis()) > 0.5;
     boolean aligningRequested = Math.abs(controller.getRightTriggerAxis()) > 0.5;
@@ -55,8 +72,7 @@ public static DriveRequest fromController(CommandXboxController controller) {
 
     Translation2d translationVector = new Translation2d(translationMagnitude, translationDirection);
 
-    TranslationMode translationMode =
-        snipingRequested ? TranslationMode.ROBOT_CENTRIC : TranslationMode.FIELD_CENTRIC;
+    TranslationMode translationMode = TranslationMode.FIELD_CENTRIC;
 
     Translation2d rotationVector =
         new Translation2d(-controller.getRightY(), -controller.getRightX());
@@ -66,42 +82,31 @@ public static DriveRequest fromController(CommandXboxController controller) {
     if (isDrifting(rotationVector, aligningRequested)) {
       rotationMode = RotationMode.DRIFTING;
     } else if (aligningRequested) {
-      rotationMode = RotationMode.SNAPPING;
+      rotationMode = RotationMode.ALIGNING;
     } else {
       rotationMode = RotationMode.SPINNING;
     }
 
     return new DriveRequest(translationMode, rotationMode, translationVector, rotationVector);
   }
 
-  public static boolean startedDrifting(DriveRequest past, DriveRequest present) {
-    return past.rotationMode == RotationMode.SPINNING
-        && present.rotationMode == RotationMode.DRIFTING;
-  }
-
-  public boolean isRobotCentric() {
-    return translationMode == TranslationMode.ROBOT_CENTRIC;
-  }
-
-  public boolean isSpinning() {
-    return rotationMode == RotationMode.SPINNING;
-  }
-
-  public boolean isSnapping() {
-    return rotationMode == RotationMode.SNAPPING;
-  }
-
-  public boolean isDrifting() {
-    return rotationMode == RotationMode.DRIFTING;
+  /**
+   * Returns the requested translation velocity in meters per second.
+   *
+   * @return the requested translation velocity in meters per second.
+   */
+  public Translation2d velocity() {
+    return translationAxis.times(SwerveConstants.MAXIMUM_SPEED);
   }
 
+  /**
+   * Returns the requested rotation velocity.
+   *
+   * @return the requested rotation velocity.
+   */
   public Rotation2d omega() {
-    if (Math.abs(this.rotation().getY()) < 0.1) return new Rotation2d();
-
-    return SwerveConstants.MAXIMUM_ROTATION_SPEED.times(this.rotation().getY());
-  }
+    if (Math.abs(rotationAxis.getY()) < 0.1) return new Rotation2d();
 
-  public Rotation2d driverHeading() {
-    return rotation().getAngle();
+    return SwerveConstants.MAXIMUM_ROTATION_SPEED.times(rotationAxis.getY());
   }
 }