Bradley/FrisbeeBotCommandsV3
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Working over constants to make the new ALL_CAPS style

Browse Source
This commit is contained in:
Bradley Bickford
2026-09-30 16:44:41 -04:00
parent 412b112899
commit 3a3a913113
9 changed files with 43 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/main/java/first/robot/Robot.java
View File

@@ -37,22 +37,22 @@ public class Robot extends OpModeRobot {
drive = new Drivetrain(true);
pusher = new Pusher();
shooter = new Shooter();
gamepad = new CommandGamepad(OIConstants.kDriverUSB);
gamepad = new CommandGamepad(OIConstants.DRIVER_USB);
drive.setDefaultCommand(drive.idle());
pusher.setDefaultCommand(pusher.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});
rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
rainbow = new FluidRainbow(strip, LEDConstants.RAINBOW_UPDATE_RATE);
rainbow.start();
manager.registerAnimationForUpdate(rainbow);
manager.start(LEDConstants.kAnimationManagerUpdateRate);
manager.start(LEDConstants.ANIMATION_MANAGER_UPDATE_RATE);
TunableRegistry.publish("Drive Tunables", drive);
}

14
src/main/java/first/robot/constants/DrivetrainConstants.java
View File

@@ -1,13 +1,13 @@
package first.robot.constants;
public class DrivetrainConstants {
public static final int kFrontLeftPWM = 0;
public static final int kRearLeftPWM = 1;
public static final int kFrontRightPWM = 2;
public static final int kRearRightPWM = 3;
public static final int FRONT_LEFT_PWM = 0;
public static final int REAR_LEFT_PWM = 1;
public static final int FRONT_RIGHT_PWM = 2;
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 kInvertLeftRight = true;
public static final boolean INVERT_FORWARD_BACKWARD = true;
public static final boolean INVERT_LEFT_RIGHT = true;
}

14
src/main/java/first/robot/constants/LEDConstants.java
View File

@@ -1,13 +1,13 @@
package first.robot.constants;
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 kBreathingUpdateRate = .03;
public static final double kBreathingMinPercentage = 25;
public static final double kBreathingMaxPercentage = 100;
public static final double kAnimationManagerUpdateRate = .01;
public static final double RAINBOW_UPDATE_RATE = .02;
public static final double BREATHING_UPDATE_RATE = .03;
public static final double BREATHING_MIN_PERCENTAGE = 25;
public static final double BREATHING_MAX_PERCENTAGE = 100;
public static final double ANIMATION_MANAGER_UPDATE_RATE = .01;
}

2
src/main/java/first/robot/constants/OIConstants.java
View File

@@ -1,5 +1,5 @@
package first.robot.constants;
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
View File

@@ -3,10 +3,10 @@ package first.robot.constants;
import org.wpilib.hardware.bus.SerialPort;
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 kSpinString = "s-250~";
public static final String STOP_STRING = "s0~";
public static final String SPIN_STRING = "s-250~";
}

6
src/main/java/first/robot/constants/ShooterConstants.java
View File

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

16
src/main/java/first/robot/mechanisms/Drivetrain.java
View File

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

10
src/main/java/first/robot/mechanisms/Pusher.java
View File

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

8
src/main/java/first/robot/mechanisms/Shooter.java
View File

@@ -18,14 +18,14 @@ public class Shooter implements Mechanism {
public Shooter() {
frontShooter = new SparkMax(
ShooterConstants.kShooterCANPort,
ShooterConstants.kFrontShooterCAN,
ShooterConstants.SHOOTER_CAN_PORT,
ShooterConstants.FRONT_SHOOTER_CAN,
MotorType.kBrushless
);
rearShooter = new SparkMax(
ShooterConstants.kShooterCANPort,
ShooterConstants.kRearShooterCAN,
ShooterConstants.SHOOTER_CAN_PORT,
ShooterConstants.REAR_SHOOTER_CAN,
MotorType.kBrushless
);
}