refactor: minor cleanup (whitespace, annotations, naming, etc.)

flamingchickens1540 · Feb 13, 2024 · 58ab9fe · 58ab9fe
1 parent e6fc7ae
commit 58ab9fe
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Showing 19 changed files with 76 additions and 73 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -175,10 +175,10 @@ public static class Pivot {
 
     public static class Elevator {
         public static final double CHAIN_HEIGHT_METERS = Units.inchesToMeters(28.25);
-        public static final double ELEVATOR_MINIMUM_HEIGHT = Units.inchesToMeters(6.0);
+        public static final double MINIMUM_HEIGHT = Units.inchesToMeters(6.0);
         public static final double CLIMBING_HOOKS_MINIMUM_HEIGHT = Units.inchesToMeters(12.0);
-        public static final double ELEVATOR_MAX_HEIGHT = ELEVATOR_MINIMUM_HEIGHT + Units.inchesToMeters(21.0); //TODO: Fix these constants to be more accurate
-        public static final double CLIMBING_HOOKS_MAX_HEIGHT = CLIMBING_HOOKS_MINIMUM_HEIGHT + ELEVATOR_MAX_HEIGHT - ELEVATOR_MINIMUM_HEIGHT;
+        public static final double MAX_HEIGHT = MINIMUM_HEIGHT + Units.inchesToMeters(21.0); //TODO: Fix these constants to be more accurate
+        public static final double CLIMBING_HOOKS_MAX_HEIGHT = CLIMBING_HOOKS_MINIMUM_HEIGHT + MAX_HEIGHT - MINIMUM_HEIGHT;
 
         public static final double GEAR_RATIO = 2.0; //TODO: Get constants right sometime
         public static final int LEADER_ID = -1;
@@ -203,15 +203,15 @@ public enum ElevatorState {
             /**
              * At max height :D
              */
-            TOP(ELEVATOR_MAX_HEIGHT),
+            TOP(MAX_HEIGHT),
             /**
              * At minimum height :D
              */
-            BOTTOM(ELEVATOR_MINIMUM_HEIGHT),
+            BOTTOM(MINIMUM_HEIGHT),
             /**
              * At height for top of initial climb :D
              */
-            CLIMB(CHAIN_HEIGHT_METERS + 0.1 - (CLIMBING_HOOKS_MINIMUM_HEIGHT - ELEVATOR_MINIMUM_HEIGHT)), //TODO: Find these values :D
+            CLIMB(CHAIN_HEIGHT_METERS + 0.1 - (CLIMBING_HOOKS_MINIMUM_HEIGHT - MINIMUM_HEIGHT)), //TODO: Find these values :D
             /**
              * At height for trap doing :D
              */
@@ -230,7 +230,7 @@ public enum ElevatorState {
     }
 
     public static class Tramp {
-        public static final int TRAMP_BEAM_BREAK_CHANNEL = 1;
+        public static final int BEAM_BREAK_CHANNEL = 1;
         public static final double GEAR_RATIO = 3.0;
         public static final double TRAP_SCORING_TIME_SECONDS = 1.114; //TODO: Find these values :D
         public static final int MOTOR_ID = -1; //TODO: Configure this later

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -11,7 +11,6 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.team1540.robot2024.Constants.Elevator.ElevatorState;
 import org.team1540.robot2024.commands.FeedForwardCharacterization;
 import org.team1540.robot2024.commands.DriveWithSpeakerTargetingCommand;
@@ -72,8 +71,6 @@ public class RobotContainer {
 
     public final PhoenixTimeSyncSignalRefresher odometrySignalRefresher = new PhoenixTimeSyncSignalRefresher(SwerveConfig.CAN_BUS);
 
-    // TODO: testing dashboard inputs, remove for comp
-
     /**
      * The container for the robot. Contains subsystems, IO devices, and commands.
      */
@@ -102,16 +99,14 @@ public RobotContainer() {
                         () -> 0.0, // TODO: ACTUALLY GET ELEVATOR HEIGHT HERE
                         new VisionPoseAcceptor(drivetrain::getChassisSpeeds, () -> 0.0)); // TODO: ACTUALLY GET ELEVATOR VELOCITY HERE
 
-                PathPlannerLogging.setLogCurrentPoseCallback((pose) -> {
-                    Logger.recordOutput("PathPlanner/Position", pose);
-                });
-                PathPlannerLogging.setLogTargetPoseCallback((pose) -> {
-                    Logger.recordOutput("PathPlanner/TargetPosition", pose);
-                });
+                PathPlannerLogging.setLogCurrentPoseCallback(
+                        (pose) -> Logger.recordOutput("PathPlanner/Position", pose));
+                PathPlannerLogging.setLogTargetPoseCallback(
+                        (pose) -> Logger.recordOutput("PathPlanner/TargetPosition", pose));
                 PathPlannerLogging.setLogActivePathCallback((path) -> {
-                    if(path.hashCode() != currentPathHash){
+                    if(path.hashCode() != currentPathHash) {
                         currentPathHash = path.hashCode();
-                        currentPathTrajectory = path.size() > 0 ? TrajectoryGenerator.generateTrajectory(path, Constants.Drivetrain.trajectoryConfig) : new Trajectory();
+                        currentPathTrajectory = !path.isEmpty() ? TrajectoryGenerator.generateTrajectory(path, Constants.Drivetrain.trajectoryConfig) : new Trajectory();
                         Logger.recordOutput("PathPlanner/PathHash", currentPathHash);
                         Logger.recordOutput("PathPlanner/ActivePath", currentPathTrajectory);
                     }
@@ -149,11 +144,10 @@ public RobotContainer() {
                 PathPlannerLogging.setLogActivePathCallback((path) -> {
                     if(path.hashCode() != currentPathHash){
                         currentPathHash = path.hashCode();
-                        currentPathTrajectory = path.size() > 0 ? TrajectoryGenerator.generateTrajectory(path, Constants.Drivetrain.trajectoryConfig) : new Trajectory();
+                        currentPathTrajectory = !path.isEmpty() ? TrajectoryGenerator.generateTrajectory(path, Constants.Drivetrain.trajectoryConfig) : new Trajectory();
                         Logger.recordOutput("PathPlanner/PathHash", currentPathHash);
                         Logger.recordOutput("PathPlanner/ActivePath", currentPathTrajectory);
                     }
-
                 });
                 break;
             default:

diff --git a/src/main/java/org/team1540/robot2024/commands/TrampShoot.java b/src/main/java/org/team1540/robot2024/commands/TrampShoot.java
@@ -13,7 +13,7 @@ public TrampShoot(Tramp tramp) {
                 ),
                 Commands.startEnd(
                         () -> tramp.setPercent(0.5), //TODO: tune this
-                        () -> tramp.stop(),
+                        tramp::stop,
                         tramp
             )
         );

diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java
@@ -7,7 +7,6 @@
 import org.team1540.robot2024.util.PathHelper;
 
 public class AmpLanePABCSprint extends AutoCommand {
-
     public AmpLanePABCSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer){
         super("AmpLanePABCSprint");
 
@@ -17,6 +16,7 @@ public AmpLanePABCSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer
                 PathHelper.fromChoreoPath("AmpLanePABCSprint.3"),
                 PathHelper.fromChoreoPath("AmpLanePABCSprint.4")
         );
+
         addCommands(
 //                new ShootSequence(shooter, indexer),
                 getPath(0).getCommand(drivetrain),

diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java
@@ -8,12 +8,14 @@
 public class SourceLanePHGFSprint extends AutoCommand {
     public SourceLanePHGFSprint(Drivetrain drivetrain){
         super("SourceLanePHGFSprint");
+
         addPath(
                 PathHelper.fromChoreoPath("SourceLanePHGFSprint.1", true, true),
                 PathHelper.fromChoreoPath("SourceLanePHGFSprint.2"),
                 PathHelper.fromChoreoPath("SourceLanePHGFSprint.3"),
                 PathHelper.fromChoreoPath("SourceLanePHGFSprint.4")
         );
+
         addCommands(
                 getPath(0).getCommand(drivetrain),
                 new PrintCommand("Past 1"),

diff --git a/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java b/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java
@@ -18,7 +18,11 @@ public ElevatorManualCommand(Elevator elevator, CommandXboxController copilot) {
 
     @Override
     public void execute() {
-        elevator.setElevatorPosition(elevator.getSetpoint() + Constants.Elevator.CRUISE_VELOCITY_MPS * Constants.LOOP_PERIOD_SECS * (copilot.getRightTriggerAxis() - copilot.getLeftTriggerAxis()));
+        elevator.setElevatorPosition(
+                elevator.getSetpoint()
+                + Constants.Elevator.CRUISE_VELOCITY_MPS
+                * Constants.LOOP_PERIOD_SECS
+                * (copilot.getRightTriggerAxis() - copilot.getLeftTriggerAxis()));
     }
 
     @Override

diff --git a/src/main/java/org/team1540/robot2024/commands/indexer/IntakeCommand.java b/src/main/java/org/team1540/robot2024/commands/indexer/IntakeCommand.java
@@ -16,11 +16,8 @@ public IntakeCommand(Indexer indexer, Tramp tramp) {
 
     @Override
     public void execute() {
-        if (indexer.isNoteStaged() || tramp.isNoteStaged()) {
-            indexer.stopIntake();
-        } else {
-            indexer.setIntakePercent(0.5);
-        }
+        if (indexer.isNoteStaged() || tramp.isNoteStaged()) indexer.stopIntake();
+        else indexer.setIntakePercent(0.5);
     }
 
     @Override

diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/TuneShooterCommand.java b/src/main/java/org/team1540/robot2024/commands/shooter/TuneShooterCommand.java
@@ -16,12 +16,14 @@ public TuneShooterCommand(Shooter shooter) {
         addRequirements(shooter);
     }
 
+    @Override
     public void execute() {
         shooter.setFlywheelSpeeds(leftFlywheelSetpoint.get(), rightFlywheelSetpoint.get());
         shooter.setPivotPosition(Rotation2d.fromDegrees(angleSetpoint.get()));
     }
 
-    public void end() {
+    @Override
+    public void end(boolean interrupted) {
         shooter.stopFlywheels();
         shooter.stopPivot();
     }

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java
@@ -86,8 +86,8 @@ public void periodic() {
             for (Module module : modules) module.stop();
 
             // Log empty setpoint states when disabled
-            Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[]{});
-            Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[]{});
+            Logger.recordOutput("SwerveStates/Setpoints");
+            Logger.recordOutput("SwerveStates/SetpointsOptimized");
         }
 
         // Calculate module deltas

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIO.java b/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIO.java
@@ -12,6 +12,5 @@ class GyroIOInputs {
         public double time = 0.0;
     }
 
-    default void updateInputs(GyroIOInputs inputs) {
-    }
+    default void updateInputs(GyroIOInputs inputs) {}
 }
diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIO.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIO.java
@@ -21,30 +21,25 @@ class ModuleIOInputs {
     /**
      * Updates the set of loggable inputs.
      */
-    default void updateInputs(ModuleIOInputs inputs) {
-    }
+    default void updateInputs(ModuleIOInputs inputs) {}
 
     /**
      * Run the drive motor at the specified voltage.
      */
-    default void setDriveVoltage(double volts) {
-    }
+    default void setDriveVoltage(double volts) {}
 
     /**
      * Run the turn motor at the specified voltage.
      */
-    default void setTurnVoltage(double volts) {
-    }
+    default void setTurnVoltage(double volts) {}
 
     /**
      * Enable or disable brake mode on the drive motor.
      */
-    default void setDriveBrakeMode(boolean enable) {
-    }
+    default void setDriveBrakeMode(boolean enable) {}
 
     /**
      * Enable or disable brake mode on the turn motor.
      */
-    default void setTurnBrakeMode(boolean enable) {
-    }
+    default void setTurnBrakeMode(boolean enable) {}
 }
diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java
@@ -16,12 +16,11 @@ public class Elevator extends SubsystemBase {
     private final AverageFilter positionFilter = new AverageFilter(10);
     private double setpointMeters;
 
-
     public Elevator(ElevatorIO elevatorIO) {
         this.io = elevatorIO;
     }
 
-    // periodic
+    @Override
     public void periodic() {
         io.updateInputs(inputs);
         Logger.processInputs("Elevator", inputs);
@@ -31,7 +30,7 @@ public void periodic() {
     }
 
     public void setElevatorPosition(double positionMeters) {
-        positionMeters = MathUtil.clamp(positionMeters, Constants.Elevator.ELEVATOR_MINIMUM_HEIGHT, Constants.Elevator.ELEVATOR_MAX_HEIGHT);
+        positionMeters = MathUtil.clamp(positionMeters, Constants.Elevator.MINIMUM_HEIGHT, Constants.Elevator.MAX_HEIGHT);
         setpointMeters = positionMeters;
         io.setSetpointMeters(setpointMeters);
 

diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java
@@ -16,10 +16,10 @@ public class ElevatorIOSim implements ElevatorIO {
             new ElevatorSim(
                     DCMotor.getFalcon500Foc(2),
                     GEAR_RATIO, SIM_CARRIAGE_MASS_KG,
-                    SPROCKET_RADIUS_M, ELEVATOR_MINIMUM_HEIGHT,
-                    ELEVATOR_MAX_HEIGHT,
+                    SPROCKET_RADIUS_M, MINIMUM_HEIGHT,
+                    MAX_HEIGHT,
                     true,
-                    ELEVATOR_MINIMUM_HEIGHT);
+                    MINIMUM_HEIGHT);
     private double elevatorAppliedVolts = 0.0;
     private final ProfiledPIDController controller =
             new ProfiledPIDController(

diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java
@@ -18,11 +18,11 @@ public class Indexer extends SubsystemBase {
     private final LoggedTunableNumber kI = new LoggedTunableNumber("Indexer/kI", FEEDER_KI);
     private final LoggedTunableNumber kD = new LoggedTunableNumber("Indexer/kD", FEEDER_KD);
 
-
     public Indexer(IndexerIO io) {
         this.io = io;
     }
 
+    @Override
     public void periodic() {
         io.updateInputs(inputs);
         Logger.processInputs("Indexer", inputs);

diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java
@@ -23,7 +23,9 @@ public class IndexerIOSim implements IndexerIO {
     @Override
     public void updateInputs(IndexerIOInputs inputs) {
         if (isClosedLoop) {
-            feederVoltage = MathUtil.clamp(feederSimPID.calculate(feederSim.getAngularVelocityRPM() / 60, feederSetpointRPS), -12.0, 12.0);
+            feederVoltage = MathUtil.clamp(
+                    feederSimPID.calculate(feederSim.getAngularVelocityRPM() / 60, feederSetpointRPS),
+                    -12.0, 12.0);
         }
         intakeSim.setInputVoltage(intakeVoltage);
         feederSim.setInputVoltage(feederVoltage);
@@ -50,12 +52,13 @@ public void configureFeederPID(double p, double i, double d) {
         feederSimPID.setPID(p, i, d);
     }
 
+    @Override
     public void setFeederVoltage(double volts) {
         isClosedLoop = false;
         feederVoltage = MathUtil.clamp(volts, -12.0, 12.0);
     }
 
-
+    @Override
     public void setFeederVelocity(double velocity) {
         isClosedLoop = true;
         feederSimPID.reset();

diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOSim.java
@@ -24,7 +24,9 @@ public class ShooterPivotIOSim implements ShooterPivotIO {
                     MIN_ANGLE.getRadians());
 
     private final ProfiledPIDController controller =
-            new ProfiledPIDController(SIM_KP, SIM_KI, SIM_KD, new TrapezoidProfile.Constraints(CRUISE_VELOCITY_RPS, MAX_ACCEL_RPS2));
+            new ProfiledPIDController(
+                    SIM_KP, SIM_KI, SIM_KD,
+                    new TrapezoidProfile.Constraints(CRUISE_VELOCITY_RPS, MAX_ACCEL_RPS2));
     private final ArmFeedforward feedforward = new ArmFeedforward(SIM_KS, SIM_KG, SIM_KV);
 
     private boolean isClosedLoop;

diff --git a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java
@@ -4,12 +4,12 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.wpilibj.DigitalInput;
-import org.team1540.robot2024.Constants.Tramp;
+
+import static org.team1540.robot2024.Constants.Tramp.*;
 
 public class TrampIOSparkMax implements TrampIO {
-    private final DigitalInput beamBreak = new DigitalInput(Tramp.TRAMP_BEAM_BREAK_CHANNEL);
-    //TODO: Potentially change name :D
-    private final CANSparkMax motor = new CANSparkMax(Tramp.MOTOR_ID, MotorType.kBrushless);
+    private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL);
+    private final CANSparkMax motor = new CANSparkMax(MOTOR_ID, MotorType.kBrushless);
     private final RelativeEncoder motorEncoder = motor.getEncoder();
 
     public TrampIOSparkMax() {
@@ -24,6 +24,7 @@ public void setVoltage(double volts) {
         motor.setVoltage(volts);
     }
 
+    @Override
     public void updateInputs(TrampIOInputs inputs) {
         inputs.breamBreakTripped = !(beamBreak.get()); //I think returns false when broken... Returns true when broken now.
         inputs.velocityRPM = motorEncoder.getVelocity();