specs.md

specs

so here's some technical specs for future reference.

UnitTypes

• Any method that takes a UnitTypes constant as a parameter must respect that type as follows:
  • No two UnitTypes should return equal results.
  • In distance measurements, all measurements must be doubles. No floats allowed.
  • For conversions, one inch is exactly equal to 2.540 centimeters, 25.400 millimeters, and 1/12 of a foot.

DriveDirections

• Only special thing here is that you don't necessarily need to respect DriveDirections.UP and DriveDirections.DOWN (these only pertain to climbing subsystems.)

Fields

• Subsystems must:
  • Keep all fields which represent motor controllers, encoders, and other hardware private.
  • not have setters and getters for hardware fields
  • allow other classes to access relevant methods of the hardware via public methods.
• Commands must:
  • NEVER, EVER, EVER have static fields. EVER.

A field may be static if and only if you are confident you know what you are doing, is not in a command, or if it's in the Robot class.