Bradley/FrisbeeBotCommandsV3
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Working over constants to make the new ALL_CAPS style

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Bradley Bickford
2026-09-30 16:44:41 -04:00
parent 412b112899
commit 3a3a913113
9 changed files with 43 additions and 43 deletions
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8
src/main/java/first/robot/Robot.java
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@@ -37,22 +37,22 @@ public class Robot extends OpModeRobot {
drive = new Drivetrain(true); drive = new Drivetrain(true);
pusher = new Pusher(); pusher = new Pusher();
shooter = new Shooter(); shooter = new Shooter();
gamepad = new CommandGamepad(OIConstants.kDriverUSB); gamepad = new CommandGamepad(OIConstants.DRIVER_USB);
drive.setDefaultCommand(drive.idle()); drive.setDefaultCommand(drive.idle());
pusher.setDefaultCommand(pusher.idle()); pusher.setDefaultCommand(pusher.idle());
shooter.setDefaultCommand(shooter.idle()); shooter.setDefaultCommand(shooter.idle());
strip = new PhysicalLEDStrip(LEDConstants.kLEDPWM, LEDConstants.kNumLEDs); strip = new PhysicalLEDStrip(LEDConstants.LED_PWM, LEDConstants.NUM_LEDS);
manager = new AnimationManager(new PhysicalLEDStrip[] {strip}); manager = new AnimationManager(new PhysicalLEDStrip[] {strip});
rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate); rainbow = new FluidRainbow(strip, LEDConstants.RAINBOW_UPDATE_RATE);
rainbow.start(); rainbow.start();
manager.registerAnimationForUpdate(rainbow); manager.registerAnimationForUpdate(rainbow);
manager.start(LEDConstants.kAnimationManagerUpdateRate); manager.start(LEDConstants.ANIMATION_MANAGER_UPDATE_RATE);
TunableRegistry.publish("Drive Tunables", drive); TunableRegistry.publish("Drive Tunables", drive);
} }

14
src/main/java/first/robot/constants/DrivetrainConstants.java
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@@ -1,13 +1,13 @@
package first.robot.constants; package first.robot.constants;
public class DrivetrainConstants { public class DrivetrainConstants {
public static final int kFrontLeftPWM = 0; public static final int FRONT_LEFT_PWM = 0;
public static final int kRearLeftPWM = 1; public static final int REAR_LEFT_PWM = 1;
public static final int kFrontRightPWM = 2; public static final int FRONT_RIGHT_PWM = 2;
public static final int kRearRightPWM = 3; public static final int REAR_RIGHT_PWM = 3;
public static final double kSlowModeMultiplier = .75; public static final double SLOW_MODE_MULTIPLIER = .75;
public static final boolean kInvertForwardBackward = true; public static final boolean INVERT_FORWARD_BACKWARD = true;
public static final boolean kInvertLeftRight = true; public static final boolean INVERT_LEFT_RIGHT = true;
} }

14
src/main/java/first/robot/constants/LEDConstants.java
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@@ -1,13 +1,13 @@
package first.robot.constants; package first.robot.constants;
public class LEDConstants { public class LEDConstants {
public static final int kLEDPWM = 8; public static final int LED_PWM = 8;
public static final int kNumLEDs = 19 * 2 + 12 * 2; public static final int NUM_LEDS = 19 * 2 + 12 * 2;
public static final double kRainbowUpdateRate = .02; public static final double RAINBOW_UPDATE_RATE = .02;
public static final double kBreathingUpdateRate = .03; public static final double BREATHING_UPDATE_RATE = .03;
public static final double kBreathingMinPercentage = 25; public static final double BREATHING_MIN_PERCENTAGE = 25;
public static final double kBreathingMaxPercentage = 100; public static final double BREATHING_MAX_PERCENTAGE = 100;
public static final double kAnimationManagerUpdateRate = .01; public static final double ANIMATION_MANAGER_UPDATE_RATE = .01;
} }

2
src/main/java/first/robot/constants/OIConstants.java
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@@ -1,5 +1,5 @@
package first.robot.constants; package first.robot.constants;
public class OIConstants { public class OIConstants {
public static final int kDriverUSB = 0; public static final int DRIVER_USB = 0;
} }

8
src/main/java/first/robot/constants/PusherConstants.java
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@@ -3,10 +3,10 @@ package first.robot.constants;
import org.wpilib.hardware.bus.SerialPort; import org.wpilib.hardware.bus.SerialPort;
public class PusherConstants { public class PusherConstants {
public static final int kBaudRate = 9600; public static final int BAUD_RATE = 9600;
public static final SerialPort.Port kPort = SerialPort.Port.USB; public static final SerialPort.Port PORT = SerialPort.Port.USB;
public static final String kStopString = "s0~"; public static final String STOP_STRING = "s0~";
public static final String kSpinString = "s-250~"; public static final String SPIN_STRING = "s-250~";
} }

6
src/main/java/first/robot/constants/ShooterConstants.java
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@@ -3,7 +3,7 @@ package first.robot.constants;
import org.wpilib.hardware.bus.CANPort; import org.wpilib.hardware.bus.CANPort;
public class ShooterConstants { public class ShooterConstants {
public static final CANPort kShooterCANPort = CANPort.CAN_S0; public static final CANPort SHOOTER_CAN_PORT = CANPort.CAN_S0;
public static final int kFrontShooterCAN = 1; public static final int FRONT_SHOOTER_CAN = 1;
public static final int kRearShooterCAN = 2; public static final int REAR_SHOOTER_CAN = 2;
} }

16
src/main/java/first/robot/mechanisms/Drivetrain.java
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@@ -23,10 +23,10 @@ public class Drivetrain implements Mechanism,ComplexTunable {
private boolean slowMode; private boolean slowMode;
public Drivetrain(boolean slowModeAtStartup) { public Drivetrain(boolean slowModeAtStartup) {
frontLeft = new VictorSP(DrivetrainConstants.kFrontLeftPWM); frontLeft = new VictorSP(DrivetrainConstants.FRONT_LEFT_PWM);
rearLeft = new VictorSP(DrivetrainConstants.kRearLeftPWM); rearLeft = new VictorSP(DrivetrainConstants.REAR_LEFT_PWM);
frontRight = new VictorSP(DrivetrainConstants.kFrontRightPWM); frontRight = new VictorSP(DrivetrainConstants.FRONT_RIGHT_PWM);
rearRight = new VictorSP(DrivetrainConstants.kRearRightPWM); rearRight = new VictorSP(DrivetrainConstants.REAR_RIGHT_PWM);
frontLeft.addFollower(rearLeft); frontLeft.addFollower(rearLeft);
frontRight.addFollower(rearRight); frontRight.addFollower(rearRight);
@@ -51,8 +51,8 @@ public class Drivetrain implements Mechanism,ComplexTunable {
public Command tankDrive(CommandGamepad gamepad) { public Command tankDrive(CommandGamepad gamepad) {
return runRepeatedly(() -> { return runRepeatedly(() -> {
drive.tankDrive( drive.tankDrive(
(DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1), (DrivetrainConstants.INVERT_FORWARD_BACKWARD ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.SLOW_MODE_MULTIPLIER : 1),
(DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getRightY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1) (DrivetrainConstants.INVERT_LEFT_RIGHT ? -1 : 1) * gamepad.getRightY() * (slowMode ? DrivetrainConstants.SLOW_MODE_MULTIPLIER : 1)
); );
}) })
.named("Drivetrain.TankDrive"); .named("Drivetrain.TankDrive");
@@ -61,8 +61,8 @@ public class Drivetrain implements Mechanism,ComplexTunable {
public Command arcadeDrive(CommandGamepad gamepad) { public Command arcadeDrive(CommandGamepad gamepad) {
return runRepeatedly(() -> { return runRepeatedly(() -> {
drive.arcadeDrive( drive.arcadeDrive(
(DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1), (DrivetrainConstants.INVERT_FORWARD_BACKWARD ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.SLOW_MODE_MULTIPLIER : 1),
(DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getLeftX() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1) (DrivetrainConstants.INVERT_LEFT_RIGHT ? -1 : 1) * gamepad.getLeftX() * (slowMode ? DrivetrainConstants.SLOW_MODE_MULTIPLIER : 1)
); );
}) })
.named("Drivetrain.ArcadeDrive"); .named("Drivetrain.ArcadeDrive");

10
src/main/java/first/robot/mechanisms/Pusher.java
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@@ -13,17 +13,17 @@ public class Pusher implements Mechanism {
public Pusher() { public Pusher() {
pusher = new SerialPort( pusher = new SerialPort(
PusherConstants.kBaudRate, PusherConstants.BAUD_RATE,
PusherConstants.kPort PusherConstants.PORT
); );
pusher.writeString(PusherConstants.kStopString); pusher.writeString(PusherConstants.STOP_STRING);
pusher.flush(); pusher.flush();
} }
public Command spin() { public Command spin() {
return run((coroutine) -> { return run((coroutine) -> {
pusher.writeString(PusherConstants.kSpinString); pusher.writeString(PusherConstants.SPIN_STRING);
pusher.flush(); pusher.flush();
}) })
.named("Pusher.Spin"); .named("Pusher.Spin");
@@ -31,7 +31,7 @@ public class Pusher implements Mechanism {
public Command stop() { public Command stop() {
return run((coroutine) -> { return run((coroutine) -> {
pusher.writeString(PusherConstants.kStopString); pusher.writeString(PusherConstants.STOP_STRING);
pusher.flush(); pusher.flush();
}) })
.named("Pusher.Stop"); .named("Pusher.Stop");

8
src/main/java/first/robot/mechanisms/Shooter.java
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@@ -18,14 +18,14 @@ public class Shooter implements Mechanism {
public Shooter() { public Shooter() {
frontShooter = new SparkMax( frontShooter = new SparkMax(
ShooterConstants.kShooterCANPort, ShooterConstants.SHOOTER_CAN_PORT,
ShooterConstants.kFrontShooterCAN, ShooterConstants.FRONT_SHOOTER_CAN,
MotorType.kBrushless MotorType.kBrushless
); );
rearShooter = new SparkMax( rearShooter = new SparkMax(
ShooterConstants.kShooterCANPort, ShooterConstants.SHOOTER_CAN_PORT,
ShooterConstants.kRearShooterCAN, ShooterConstants.REAR_SHOOTER_CAN,
MotorType.kBrushless MotorType.kBrushless
); );
} }