From 31d860d56c41700875bec8f4a221bdc226f760d2 Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Sun, 28 Apr 2024 15:12:07 -0400
Subject: [PATCH] refactor: Move alliance flip logic to robot.

---
 src/main/java/frc/lib/AllianceFlipHelper.java | 26 -------------------
 src/main/java/frc/robot/Robot.java            | 17 +++++++++++-
 src/main/java/frc/robot/auto/Auto.java        |  4 +--
 .../java/frc/robot/odometry/Odometry.java     |  5 ----
 4 files changed, 18 insertions(+), 34 deletions(-)
 delete mode 100644 src/main/java/frc/lib/AllianceFlipHelper.java

diff --git a/src/main/java/frc/lib/AllianceFlipHelper.java b/src/main/java/frc/lib/AllianceFlipHelper.java
deleted file mode 100644
index cdaa33c..0000000
--- a/src/main/java/frc/lib/AllianceFlipHelper.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package frc.lib;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-
-/** Helper class to assist with flipping positions behind on alliance. */
-public class AllianceFlipHelper {
-  /**
-   * Determines whether a path should be flipped.
-   *
-   * @return whether the path should be flipped.
-   */
-  public static boolean shouldFlip() {
-    return isRedAlliance();
-  }
-
-  /**
-   * 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;
-  }
-}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 3347995..34b34fc 100644
--- 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
index b11235a..ac83584 100644
--- 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
index af44103..eadcebc 100644
--- 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());