refactor: less verbose constants

flamingchickens1540 · Jan 15, 2024 · 8a6cdb9 · 8a6cdb9
1 parent 703d309
commit 8a6cdb9
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Showing 4 changed files with 26 additions and 22 deletions.
diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java
@@ -18,7 +18,8 @@
 import org.team1540.robot2024.util.LocalADStarAK;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
-import org.team1540.robot2024.Constants;
+
+import static org.team1540.robot2024.Constants.Drivetrain.*;
 
 public class Drivetrain extends SubsystemBase {
     private final GyroIO gyroIO;
@@ -48,7 +49,7 @@ public Drivetrain(
                 this::setPose,
                 () -> kinematics.toChassisSpeeds(getModuleStates()),
                 this::runVelocity,
-                new HolonomicPathFollowerConfig(Constants.Drivetrain.MAX_LINEAR_SPEED, Constants.Drivetrain.DRIVE_BASE_RADIUS, new ReplanningConfig()),
+                new HolonomicPathFollowerConfig(MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
                 () -> DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red,
                 this);
         Pathfinding.setPathfinder(new LocalADStarAK());
@@ -108,7 +109,7 @@ public void runVelocity(ChassisSpeeds speeds) {
         // Calculate module setpoints
         ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02);
         SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
-        SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, Constants.Drivetrain.MAX_LINEAR_SPEED);
+        SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED);
 
         // Send setpoints to modules
         SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4];
@@ -201,25 +202,25 @@ public void setPose(Pose2d pose) {
      * Returns the maximum linear speed in meters per sec.
      */
     public double getMaxLinearSpeedMetersPerSec() {
-        return Constants.Drivetrain.MAX_LINEAR_SPEED;
+        return MAX_LINEAR_SPEED;
     }
 
     /**
      * Returns the maximum angular speed in radians per sec.
      */
     public double getMaxAngularSpeedRadPerSec() {
-        return Constants.Drivetrain.MAX_ANGULAR_SPEED;
+        return MAX_ANGULAR_SPEED;
     }
 
     /**
      * Returns an array of module translations.
      */
     public static Translation2d[] getModuleTranslations() {
         return new Translation2d[]{
-                new Translation2d(Constants.Drivetrain.TRACK_WIDTH_X / 2.0, Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
-                new Translation2d(Constants.Drivetrain.TRACK_WIDTH_X / 2.0, -Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
-                new Translation2d(-Constants.Drivetrain.TRACK_WIDTH_X / 2.0, Constants.Drivetrain.TRACK_WIDTH_Y / 2.0),
-                new Translation2d(-Constants.Drivetrain.TRACK_WIDTH_X / 2.0, -Constants.Drivetrain.TRACK_WIDTH_Y / 2.0)
+                new Translation2d(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0),
+                new Translation2d(TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0),
+                new Translation2d(-TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0),
+                new Translation2d(-TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0)
         };
     }
 }
diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java
@@ -8,6 +8,8 @@
 import org.team1540.robot2024.Constants;
 import org.littletonrobotics.junction.Logger;
 
+import static org.team1540.robot2024.Constants.Drivetrain.*;
+
 public class Module {
     private final ModuleIO io;
     private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
@@ -78,7 +80,7 @@ public void periodic() {
                 double adjustSpeedSetpoint = speedSetpoint * Math.cos(turnFeedback.getPositionError());
 
                 // Run drive controller
-                double velocityRadPerSec = adjustSpeedSetpoint / Constants.Drivetrain.WHEEL_RADIUS;
+                double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS;
                 io.setDriveVoltage(
                         driveFeedforward.calculate(velocityRadPerSec)
                                 + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec));
@@ -99,7 +101,7 @@ public SwerveModuleState runSetpoint(SwerveModuleState state, boolean forceTurn)
         SwerveModuleState optimizedState = SwerveModuleState.optimize(state, getAngle());
 
         // Update setpoints, controllers run in "periodic"
-        angleSetpoint = ((Math.abs(optimizedState.speedMetersPerSecond) <= (Constants.Drivetrain.MAX_LINEAR_SPEED * 0.01)) && !forceTurn) ? angleSetpoint : optimizedState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering.
+        angleSetpoint = ((Math.abs(optimizedState.speedMetersPerSecond) <= (MAX_LINEAR_SPEED * 0.01)) && !forceTurn) ? angleSetpoint : optimizedState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering.
         speedSetpoint = optimizedState.speedMetersPerSecond;
 
         return optimizedState;
@@ -152,14 +154,14 @@ public Rotation2d getAngle() {
      * Returns the current drive position of the module in meters.
      */
     public double getPositionMeters() {
-        return inputs.drivePositionRad * Constants.Drivetrain.WHEEL_RADIUS;
+        return inputs.drivePositionRad * WHEEL_RADIUS;
     }
 
     /**
      * Returns the current drive velocity of the module in meters per second.
      */
     public double getVelocityMetersPerSec() {
-        return inputs.driveVelocityRadPerSec * Constants.Drivetrain.WHEEL_RADIUS;
+        return inputs.driveVelocityRadPerSec * WHEEL_RADIUS;
     }
 
     /**

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java
@@ -4,9 +4,9 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
-import org.team1540.robot2024.Constants;
 
 import static org.team1540.robot2024.Constants.Drivetrain.*;
+import static org.team1540.robot2024.Constants.*;
 
 /**
  * Physics sim implementation of module IO.
@@ -24,8 +24,8 @@ public class ModuleIOSim implements ModuleIO {
 
     @Override
     public void updateInputs(ModuleIOInputs inputs) {
-        driveSim.update(Constants.LOOP_PERIOD_SECS);
-        turnSim.update(Constants.LOOP_PERIOD_SECS);
+        driveSim.update(LOOP_PERIOD_SECS);
+        turnSim.update(LOOP_PERIOD_SECS);
 
         inputs.drivePositionRad = driveSim.getAngularPositionRad();
         inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java
@@ -11,7 +11,8 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import org.team1540.robot2024.util.swerve.SwerveFactory;
-import org.team1540.robot2024.Constants;
+
+import static org.team1540.robot2024.Constants.Drivetrain.*;
 
 /**
  * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
@@ -74,14 +75,14 @@ public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw) {
     public void updateInputs(ModuleIOInputs inputs) {
         BaseStatusSignal.refreshAll(drivePosition, driveVelocity, driveAppliedVolts, driveCurrent, turnAbsolutePosition, turnPosition, turnVelocity, turnAppliedVolts, turnCurrent);
 
-        inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
-        inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
+        inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO;
+        inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO;
         inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble();
         inputs.driveCurrentAmps = driveCurrent.getValueAsDouble();
 
         inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()).plus(absoluteEncoderOffset);
-        inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble() / Constants.Drivetrain.TURN_GEAR_RATIO);
-        inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / Constants.Drivetrain.TURN_GEAR_RATIO;
+        inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO);
+        inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO;
         inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
         inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
     }
@@ -107,7 +108,7 @@ public void setDriveBrakeMode(boolean enable) {
     @Override
     public void setTurnBrakeMode(boolean enable) {
         MotorOutputConfigs config = new MotorOutputConfigs();
-        config.Inverted = Constants.Drivetrain.IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
+        config.Inverted = IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
         config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
         turnTalon.getConfigurator().apply(config);
     }