refactor: Move alliance flip logic to robot.

Gongoliers · Apr 28, 2024 · 31d860d · 31d860d
1 parent 66d88f5
commit 31d860d
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Showing 4 changed files with 18 additions and 34 deletions.
diff --git a/src/main/java/frc/lib/AllianceFlipHelper.java b/src/main/java/frc/lib/AllianceFlipHelper.java
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -1,14 +1,29 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
-  private Command autonomousCommand;
 
+  /** Robot container. */
   private RobotContainer robotContainer;
 
+  /** Command to run during autonomous. */
+  private Command autonomousCommand;
+
+  /**
+   * Returns true if on red alliance.
+   *
+   * @return true if on red alliance.
+   */
+  public static boolean isRedAlliance() {
+    return DriverStation.getAlliance().isPresent()
+        && DriverStation.getAlliance().get() == Alliance.Red;
+  }
+
   @Override
   public void robotInit() {
     robotContainer = RobotContainer.getInstance();

diff --git a/src/main/java/frc/robot/auto/Auto.java b/src/main/java/frc/robot/auto/Auto.java
@@ -8,9 +8,9 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.lib.AllianceFlipHelper;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
+import frc.robot.Robot;
 import frc.robot.odometry.Odometry;
 import frc.robot.superstructure.Superstructure;
 import frc.robot.swerve.Swerve;
@@ -50,7 +50,7 @@ private Auto() {
             swerve.maximumTranslationVelocity(),
             swerve.driveRadius(),
             new ReplanningConfig()),
-        AllianceFlipHelper::shouldFlip,
+        Robot::isRedAlliance,
         swerve);
 
     NamedCommands.registerCommand("stow", superstructure.stow());

diff --git a/src/main/java/frc/robot/odometry/Odometry.java b/src/main/java/frc/robot/odometry/Odometry.java
@@ -12,7 +12,6 @@
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import frc.lib.AllianceFlipHelper;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
 import frc.lib.sensor.GyroscopeIO;
@@ -91,10 +90,6 @@ public void periodic() {
 
   @Override
   public void addToShuffleboard(ShuffleboardTab tab) {
-    ShuffleboardLayout shouldFlip = Telemetry.addColumn(tab, "Should Flip?");
-
-    shouldFlip.addBoolean("Should Flip?", () -> AllianceFlipHelper.shouldFlip());
-
     ShuffleboardLayout position = Telemetry.addColumn(tab, "Position");
 
     position.addDouble("X (m)", () -> getPosition().getX());