Clean up (see description)

- Organized the Constants.java and added some a reference table b/c why not
- Commented out a lot of commands in RobotContainer.java; test subsystems one at one time initially
- Added Constant.CANid references in some of the subsystems

Author: JediScoy

src/main/java/frc/robot/Constants.java

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+   
+
 package frc.robot;
 
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
@@ -17,18 +19,20 @@
  *
  * <p>
  * It is advised to statically import this class (or one of its inner classes)
- * wherever the
- * constants are needed, to reduce verbosity.
+ * wherever the constants are needed, to reduce verbosity.
  */
 public final class Constants {
 
-  public int noteDistanceCheck = 100;
+  /*Real world unit of millimeters
+  * When less than this, the note status is considered "loaded"
+  */
+  public static int NOTE_DISTANCE_CHECK = 100;
 
   public static class OperatorConstants {
-    public static final int K_DRIVER_CONTROLLER_PORT = 0;
-    public static final int K_OPERATOR_CONTROLLER_PORT = 1;
+    public static final int K_DRIVER_CONTROLLER_PORT = 0; // Driver Controller
+    public static final int K_OPERATOR_CONTROLLER_PORT = 1; // Operator or Secondary Controller
 
-    public static final int DEFAULT_ARM_INCREMENT_VALUE = 20;
+    public static final int DEFAULT_ARM_INCREMENT_VALUE = 20; // ?
 
   }
 
@@ -42,6 +46,7 @@ public static class SystemConstants {
     // For every 488 rotations of our driver motor, the arm makes 1 revolution.
     public static final double NET_ARM_RATIO = 458;
 
+    // Is this standard or added by us?
     public static class PID {
       public static final double DRIVE_P = 0.3f;
       public static final double DRIVE_I = 0;
@@ -63,16 +68,51 @@ public static class PID {
   }
 
   public static class CANIDs {
-    // ! DO NOT use CAN IDs 1-9; they are reserved for the modules and Pigeon
-
-    public static final int INTAKE_CAN = 10;
-    public static final int INDEX_CAN = 11;
-
-    public static final int NOTE_SENSOR_ID = 12; // Time of Flight sensor for the note
-
+  
+    /* Hypothetical ID Table */
+
+   /* CAN IDs 
+    | Object      | ID  | 
+    |------------ |-----|
+    | Drive FL    | 01  |
+    | Steer FL    | 02  |
+    | Drive FR    | 03  |
+    | Steer FR    | 04  |
+    | Drive RL    | 05  |
+    | Steer RL    | 06  |
+    | Drive RR    | 07  |
+    | Steer RR    | 08  |
+    | CANCoder FL | 09  |
+    | CANCoder FR | 10  |
+    | CANCoder RL | 11  |
+    | CANCoder RR | 12  |
+    | -Hard pass- | 13  |
+    | Pidgeon     | 14  |
+    | Candle      | 15  |
+
+    // Season Specific
+    | Intake      | 20  |
+    | Index       | 21  |
+    | Arm         | 22  |  
+    | Launcher LT | 23  |
+    | Launcher RT | 24  |
+    | Winch       | 25  |
+    | ToF Note    | 42  | 
+    | Bass Guitar | | 
+    
+    */
+
+    public static final int CANDLE_ID = 15; // Mini LED and LED strip controller
+    public static final int INTAKE_ID = 20;
+    public static final int INDEX_ID = 21;
+    public static final int ARM_ID = 22;
+    public static final int RIGHT_FLYWHEEL_ID = 23; // Right, when looking from back?
+    public static final int LEFT_FLYWHEEL_ID = 24; // 
+    public static final int WINCH_ID = 25;
+    public static final int NOTE_SENSOR_ID = 42; // Time of Flight sensor for the note
+
+
+    // Extra CAN IDs
     public static final int BASS_GUITAR = 13;
-
-    public static final int RIGHT_FLYWHEEL_CAN = 15;
-    public static final int LEFT_FLYWHEEL_CAN = 16;
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -26,7 +26,6 @@
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.generated.TunerConstants;
 
@@ -86,8 +85,8 @@ public RobotContainer() {
 
     Shuffleboard.getTab("Autos").add("Auton", autoChooser);
 
-    shooterMotorMain = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_CAN);
-    shooterMotorSub = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_CAN);
+    shooterMotorMain = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_ID);
+    shooterMotorSub = new TalonFX(Constants.CANIDs.LEFT_FLYWHEEL_ID);
 
     // #region some configs
 
@@ -96,8 +95,8 @@ public RobotContainer() {
     shooterMotorMain.setNeutralMode(NeutralModeValue.Coast);
     shooterMotorMain.setNeutralMode(NeutralModeValue.Coast);
 
-    shooterMotorSub = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_CAN);
-    shooterMotorMain = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_CAN);
+    shooterMotorSub = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_ID);
+    shooterMotorMain = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_ID);
     // #endregion
 
     launcher = new LauncherSubsystem(shooterMotorMain, shooterMotorSub);
@@ -134,9 +133,9 @@ public RobotContainer() {
   // tl;dr: Trigger class for simple booleans
   private void configureBindings() {
 
-    m_driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
-    m_driverController.b().whileTrue(drivetrain.applyRequest(() -> point
-        .withModuleDirection(new Rotation2d(-m_driverController.getLeftY(), -m_driverController.getLeftX()))));
+    // m_driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
+    // m_driverController.b().whileTrue(drivetrain.applyRequest(() -> point
+        // .withModuleDirection(new Rotation2d(-m_driverController.getLeftY(), -m_driverController.getLeftX()))));
 
     // reset the field-centric heading on back press
     // Instant command because it doesn't set a requirment. In short, creating a
@@ -146,15 +145,18 @@ private void configureBindings() {
     // m_operatorController.back().onTrue(new InstantCommand(() ->
     // drivetrain.getPigeon2().setYaw(0)));
     // -------------------//-------------------//-------------------//-------------------//-------------------//-------------------
-    m_operatorController.povUp().onTrue(winch.run(() -> winch.Drive(() -> 1)));
-    m_operatorController.povDown().onTrue(winch.run(() -> winch.Drive(() -> -1)));
+    // m_operatorController.povUp().onTrue(winch.run(() -> winch.Drive(() -> 1)));
+    // m_operatorController.povDown().onTrue(winch.run(() -> winch.Drive(() -> -1)));
+    
+    /* This ride is closed and undergoing maintence 
     m_operatorController.y()
         .onTrue(
             arm.run(() -> arm.IncrementNativeUnits(incrementDistanceEntry.getInteger(DEFAULT_ARM_INCREMENT_VALUE))));
     m_operatorController.a()
         .onTrue(
             arm.run(() -> arm.IncrementNativeUnits(incrementDistanceEntry.getInteger(-DEFAULT_ARM_INCREMENT_VALUE))));
 
+    */ // End of comment for incremental arm
   }
 
   public void DebugMethodSingle() {

src/main/java/frc/robot/subsystems/ArmSubsytem.java

@@ -1,23 +1,14 @@
 package frc.robot.subsystems;
 
-import java.io.NotActiveException;
 import java.util.function.DoubleSupplier;
 
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix6.configs.CustomParamsConfigs;
-import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.NeutralOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
-import com.ctre.phoenix6.controls.StaticBrake;
 import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.fasterxml.jackson.databind.ser.std.NumberSerializers.DoubleSerializer;
-import com.playingwithfusion.CANVenom.BrakeCoastMode;
 
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DutyCycle;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -22,11 +22,12 @@ public class IntakeSubsystem extends SubsystemBase {
 
     public IntakeSubsystem() {
 
-        motor = new TalonFX(0);
+        motor = new TalonFX(Constants.CANIDs.INTAKE_ID);
         dutyCycle = new DutyCycleOut(0);
         motor.setControl(dutyCycle);
 
-        notey.noteDistanceCheck = 3;
+        int noteDistanceCheck = Constants.NOTE_DISTANCE_CHECK;
+        
         notey = new NoteSensorSubsystem();
         // Every 20ms it updates ()
 

src/main/java/frc/robot/subsystems/LauncherSubsystem.java

@@ -1,7 +1,5 @@
 package frc.robot.subsystems;
 
-import java.util.function.DoubleSupplier;
-
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 
@@ -19,14 +17,14 @@ public class LauncherSubsystem extends SubsystemBase {
     /** As opposed to double */
     private boolean singleMotor;
 
-    private TalonFX m_main;
-    private TalonFX m_sub;
+    private TalonFX m_main; // The main motor
+    private TalonFX m_secondary; // The secondary motor
     /** The state percentage */
     private double percentage;
     /** The multiplier that converts from "primary speed" to "secondary speed" */
     private double ratio = 1;
     private DutyCycleOut mainDutyCycle;
-    private DutyCycleOut subDutyCycle;
+    private DutyCycleOut secondaryDutyCycle;
 
     // #region Diagnostics
     GenericEntry isRunning;
@@ -38,14 +36,14 @@ public class LauncherSubsystem extends SubsystemBase {
      * Set configs before creating this class/subsystem.
      * {@link #SetStatePower} is used to set the main power.
      */
-    public LauncherSubsystem(TalonFX main, TalonFX sub) {
+    public LauncherSubsystem(TalonFX main, TalonFX secondary) {
 
         singleMotor = false;
         this.m_main = main;
-        this.m_sub = sub;
+        this.m_secondary = secondary;
         // default to off
         m_main.setControl(mainDutyCycle = new DutyCycleOut(0));
-        m_sub.setControl(subDutyCycle = new DutyCycleOut(0));
+        m_secondary.setControl(secondaryDutyCycle = new DutyCycleOut(0));
 
     }
 
@@ -74,8 +72,8 @@ private void SetMotorPowers(double arg) {
         m_main.setControl(mainDutyCycle);
 
         if (!singleMotor) {
-            subDutyCycle.Output = arg * ratio * invertMulti;
-            m_sub.setControl(subDutyCycle);
+            secondaryDutyCycle.Output = arg * ratio * invertMulti;
+            m_secondary.setControl(secondaryDutyCycle);
         }
         ;
 

src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -23,7 +23,7 @@ CANdle requires the Phoenix (v5) vendordep
 
 
 public class LedSubsystem extends SubsystemBase{
-    private final CANdle m_candle = new CANdle(Constants.CANIDs.NOTE_SENSOR_ID, "rio");
+    private final CANdle m_candle = new CANdle(Constants.CANIDs.CANDLE_ID, "rio");
 
     /* Update once the LEDs are installed if using Animations */
    //  private final int LedCount = 69;

src/main/java/frc/robot/subsystems/MagLimitSwitch.java

@@ -5,7 +5,12 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class MagLimitSwitch  extends SubsystemBase{
-    private DigitalInput limitSwitch = new DigitalInput(1); // figure out what actual outlet called
+
+    /* This could (should?) be moved into ArmSubsystem.java once tested. No other subsystem would use this limit switch */
+    /* REV Magnetic Limit Switch
+     * To be used for the arm for triggering a reset to the arm encoder when its position is "home"
+     */
+    private DigitalInput limitSwitch = new DigitalInput(1);
 
     public boolean getSwitchState() {
      return limitSwitch.get();