this should be all other than inputs classes

TitaniumTitans · Jan 20, 2024 · 1d4d4d9 · 1d4d4d9
1 parent bc8bc25
commit 1d4d4d9
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Showing 8 changed files with 156 additions and 109 deletions.
diff --git a/src/main/java/frc/robot/commands/FeedForwardCharacterization.java b/src/main/java/frc/robot/commands/FeedForwardCharacterization.java
@@ -99,7 +99,7 @@ public void print() {
 
       DriverStation.reportWarning("FF Characterization Results:", false);
       DriverStation.reportWarning("\tCount=" + Integer.toString(velocityData.size()) + "", false);
-      DriverStation.reportWarning(String.format("\tR2=%.5f", regression.R2()), false);
+      DriverStation.reportWarning(String.format("\tR2=%.5f", regression.r2()), false);
       DriverStation.reportWarning(String.format("\tkS=%.5f", regression.beta(0)), false);
       DriverStation.reportWarning(String.format("\tkV=%.5f", regression.beta(1)), false);
     }

diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSparkMax.java
@@ -50,7 +50,7 @@ public class ModuleIOSparkMax implements ModuleIO {
   private final Queue<Double> drivePositionQueue;
   private final Queue<Double> turnPositionQueue;
 
-  private final boolean isTurnMotorInverted = true;
+  private static final boolean TURN_MOTOR_INVERTED = true;
   private final Rotation2d absoluteEncoderOffset;
 
   public ModuleIOSparkMax(int index) {
@@ -80,7 +80,7 @@ public ModuleIOSparkMax(int index) {
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
       default:
-        throw new RuntimeException("Invalid module index");
+        throw new UnsupportedOperationException("Invalid module index");
     }
 
     driveSparkMax.restoreFactoryDefaults();
@@ -92,7 +92,7 @@ public ModuleIOSparkMax(int index) {
     driveEncoder = driveSparkMax.getEncoder();
     turnRelativeEncoder = turnSparkMax.getEncoder();
 
-    turnSparkMax.setInverted(isTurnMotorInverted);
+    turnSparkMax.setInverted(TURN_MOTOR_INVERTED);
     driveSparkMax.setSmartCurrentLimit(40);
     turnSparkMax.setSmartCurrentLimit(30);
     driveSparkMax.enableVoltageCompensation(12.0);

diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
@@ -43,6 +43,7 @@
  * absolute encoders using AdvantageScope. These values are logged under
  * "/Drive/ModuleX/TurnAbsolutePositionRad"
  */
+
 public class ModuleIOTalonFX implements ModuleIO {
   private final TalonFX m_driveTalon;
   private final TalonFX m_turnTalon;

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -3,14 +3,12 @@
 import org.littletonrobotics.junction.AutoLog;
 
 public interface ShooterIO {
-
-    @AutoLog
-    class ShooterIOInputs {
-    }
-    default void setMotorVoltageTL(double voltage) {}
-    default void setMotorVoltageTR(double voltage) {}
-    default void setMotorVoltageBL(double voltage) {}
-    default void setMotorVoltageBR(double voltage) {}
-    default void setKickerVoltage(double voltage) {}
+  @AutoLog
+  class ShooterIOInputs {}
+  default void setMotorVoltageTL(double voltage) {}
+  default void setMotorVoltageTR(double voltage) {}
+  default void setMotorVoltageBL(double voltage) {}
+  default void setMotorVoltageBR(double voltage) {}
+  default void setKickerVoltage(double voltage) {}
 
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java
@@ -5,47 +5,47 @@
 import com.revrobotics.CANSparkMax;
 
 public class ShooterIOPrototype implements ShooterIO {
-    private final CANSparkFlex m_topLeftMotor;
-    private final CANSparkFlex m_topRightMotor;
-    private final CANSparkMax m_bottomLeftMotor;
-    private final CANSparkMax m_bottomRightMotor;
-    private final CANSparkMax m_kickekMotor;
-    public ShooterIOPrototype() {
-        m_topLeftMotor = new CANSparkFlex(13, CANSparkLowLevel.MotorType.kBrushless);
-        m_topRightMotor = new CANSparkFlex(14, CANSparkLowLevel.MotorType.kBrushless);
-        m_bottomLeftMotor = new CANSparkMax(15, CANSparkLowLevel.MotorType.kBrushless);
-        m_bottomRightMotor = new CANSparkMax(16, CANSparkLowLevel.MotorType.kBrushless);
-        m_kickekMotor = new CANSparkMax(17, CANSparkLowLevel.MotorType.kBrushless);
-
-        m_topLeftMotor.setInverted(false);
-        m_bottomLeftMotor.setInverted(true);
-
-        m_topLeftMotor.burnFlash();
-        m_topRightMotor.burnFlash();
-    }
-
-    @Override
-    public void setMotorVoltageTL(double voltage) {
-        m_topLeftMotor.setVoltage(voltage);
-    }
-
-    @Override
-    public void setMotorVoltageTR(double voltage) {
-        m_topRightMotor.setVoltage(voltage);
-    }
-
-    @Override
-    public void setMotorVoltageBL(double voltage) {
-        m_bottomLeftMotor.setVoltage(voltage);
-    }
-
-    @Override
-    public void setMotorVoltageBR(double voltage) {
-        m_bottomRightMotor.setVoltage(voltage);
-    }
-
-    @Override
-    public void setKickerVoltage(double voltage) {
-        m_kickekMotor.setVoltage(voltage);
-    }
+  private final CANSparkFlex m_topLeftMotor;
+  private final CANSparkFlex m_topRightMotor;
+  private final CANSparkMax m_bottomLeftMotor;
+  private final CANSparkMax m_bottomRightMotor;
+  private final CANSparkMax m_kickekMotor;
+  public ShooterIOPrototype() {
+    m_topLeftMotor = new CANSparkFlex(13, CANSparkLowLevel.MotorType.kBrushless);
+    m_topRightMotor = new CANSparkFlex(14, CANSparkLowLevel.MotorType.kBrushless);
+    m_bottomLeftMotor = new CANSparkMax(15, CANSparkLowLevel.MotorType.kBrushless);
+    m_bottomRightMotor = new CANSparkMax(16, CANSparkLowLevel.MotorType.kBrushless);
+    m_kickekMotor = new CANSparkMax(17, CANSparkLowLevel.MotorType.kBrushless);
+
+    m_topLeftMotor.setInverted(false);
+    m_bottomLeftMotor.setInverted(true);
+
+    m_topLeftMotor.burnFlash();
+    m_topRightMotor.burnFlash();
+  }
+
+  @Override
+  public void setMotorVoltageTL(double voltage) {
+    m_topLeftMotor.setVoltage(voltage);
+  }
+
+  @Override
+  public void setMotorVoltageTR(double voltage) {
+    m_topRightMotor.setVoltage(voltage);
+  }
+
+  @Override
+  public void setMotorVoltageBL(double voltage) {
+    m_bottomLeftMotor.setVoltage(voltage);
+  }
+
+  @Override
+  public void setMotorVoltageBR(double voltage) {
+    m_bottomRightMotor.setVoltage(voltage);
+  }
+
+  @Override
+  public void setKickerVoltage(double voltage) {
+    m_kickekMotor.setVoltage(voltage);
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -6,34 +6,36 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class ShooterSubsystem extends SubsystemBase {
-    private final ShooterIO m_io;
-    public ShooterSubsystem(ShooterIO io) {
-        m_io = io;
-        SmartDashboard.putNumber("Top wheel ratio", 0.8);
-        SmartDashboard.putNumber("Left wheel", 0.6);
-        SmartDashboard.putNumber("Right wheel", 0.6);
-    }
-
-    public void setShooterPowerLeft(double power) {
-        m_io.setMotorVoltageTL((power * 12.0) * SmartDashboard.getNumber("Top wheel ratio", 0.85));
-        m_io.setMotorVoltageBL(power * 12.0);
-    }
-
-    public void setShooterPowerRight(double power) {
-        m_io.setMotorVoltageTR((power * 12.0) * SmartDashboard.getNumber("Top wheel ratio", 0.85));
-        m_io.setMotorVoltageBR(power * 12.0);
-    }
-
-    public void setKickerPower(double power) {
-        m_io.setKickerVoltage(power * 12.0);
-    }
-
-    public Command setShooterPower(double left, double right) {
-        return run(() -> {
-            setShooterPowerLeft(left == 0.0 ? 0.0 : SmartDashboard.getNumber("Left wheel", 0.6));
-            setShooterPowerRight(right == 0.0 ? 0.0 : SmartDashboard.getNumber("Right wheel", 0.6));
-            setKickerPower(left == 0.0 ? 0.0 : 1.0);
-        });
-    }
+  private final ShooterIO m_io;
+
+  private static final String TOP_WHEEL_RATIO = "Top wheel ratio";
+  public ShooterSubsystem(ShooterIO io) {
+    m_io = io;
+    SmartDashboard.putNumber(TOP_WHEEL_RATIO, 0.8);
+    SmartDashboard.putNumber("Left wheel", 0.6);
+    SmartDashboard.putNumber("Right wheel", 0.6);
+  }
+
+  public void setShooterPowerLeft(double power) {
+    m_io.setMotorVoltageTL((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
+    m_io.setMotorVoltageBL(power * 12.0);
+  }
+
+  public void setShooterPowerRight(double power) {
+    m_io.setMotorVoltageTR((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
+    m_io.setMotorVoltageBR(power * 12.0);
+  }
+
+  public void setKickerPower(double power) {
+    m_io.setKickerVoltage(power * 12.0);
+  }
+
+  public Command setShooterPower(double left, double right) {
+    return run(() -> {
+      setShooterPowerLeft(left == 0.0 ? 0.0 : SmartDashboard.getNumber("Left wheel", 0.6));
+      setShooterPowerRight(right == 0.0 ? 0.0 : SmartDashboard.getNumber("Right wheel", 0.6));
+      setKickerPower(left == 0.0 ? 0.0 : 1.0);
+    });
+  }
 }
 
diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java
@@ -100,9 +100,9 @@ public void setDynamicObstacles(
   }
 
   private static class ADStarIO implements LoggableInputs {
-    public LocalADStar adStar = new LocalADStar();
-    public boolean isNewPathAvailable = false;
-    public List<PathPoint> currentPathPoints = Collections.emptyList();
+    protected LocalADStar adStar = new LocalADStar();
+    protected boolean isNewPathAvailable = false;
+    protected List<PathPoint> currentPathPoints = Collections.emptyList();
 
     @Override
     public void toLog(LogTable table) {