refactor(superstructure): Move speeds and positions to constants.

haydenheroux · haydenheroux · commit 3c9b273e1e2f · 2024-04-09T18:37:13.000-04:00
diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java
@@ -1,5 +1,6 @@
 package frc.robot.arm;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
@@ -55,5 +56,17 @@ public static class ShoulderConstants {
 
     /** Motion profile of the shoulder. */
     public static final TrapezoidProfile MOTION_PROFILE = new TrapezoidProfile(CONSTRAINTS);
+
+    public static final Rotation2d STOW = Rotation2d.fromDegrees(-25);
+
+    public static final Rotation2d SPEAKER = Rotation2d.fromDegrees(-15);
+
+    public static final Rotation2d PASS = Rotation2d.fromDegrees(0);
+
+    public static final Rotation2d EJECT = Rotation2d.fromDegrees(0);
+
+    public static final Rotation2d AMP = Rotation2d.fromDegrees(80);
+
+    public static final Rotation2d CLIMB = Rotation2d.fromDegrees(60);
   }
 }
diff --git a/src/main/java/frc/robot/arm/ArmState.java b/src/main/java/frc/robot/arm/ArmState.java
@@ -4,23 +4,25 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import edu.wpi.first.math.util.Units;
+import frc.robot.arm.ArmConstants.ShoulderConstants;
+
 import java.util.Objects;
 
 public record ArmState(State shoulderRotations) {
 
-  public static final ArmState INITIAL = new ArmState(Rotation2d.fromDegrees(-25));
+  public static final ArmState INITIAL = new ArmState(ShoulderConstants.STOW);
 
-  public static final ArmState STOW = new ArmState(Rotation2d.fromDegrees(-25));
+  public static final ArmState STOW = new ArmState(ShoulderConstants.STOW);
 
-  public static final ArmState SPEAKER = new ArmState(Rotation2d.fromDegrees(-15));
+  public static final ArmState SPEAKER = new ArmState(ShoulderConstants.SPEAKER);
 
-  public static final ArmState PASS = new ArmState(Rotation2d.fromDegrees(0));
+  public static final ArmState PASS = new ArmState(ShoulderConstants.PASS);
 
-  public static final ArmState EJECT = new ArmState(Rotation2d.fromDegrees(0));
+  public static final ArmState EJECT = new ArmState(ShoulderConstants.EJECT);
 
-  public static final ArmState AMP = new ArmState(Rotation2d.fromDegrees(80));
+  public static final ArmState AMP = new ArmState(ShoulderConstants.AMP);
 
-  public static final ArmState CLIMB = new ArmState(Rotation2d.fromDegrees(80));
+  public static final ArmState CLIMB = new ArmState(ShoulderConstants.CLIMB);
 
   public ArmState {
     Objects.requireNonNull(shoulderRotations);
diff --git a/src/main/java/frc/robot/intake/IntakeConstants.java b/src/main/java/frc/robot/intake/IntakeConstants.java
@@ -28,6 +28,11 @@ public static class FrontRollerConstants {
       CONTROLLER_CONSTANTS.neutralBrake = true;
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
     }
+
+    public static final double INTAKE_SPEED = 34;
+
+    /** Maximum speed of the roller in rotations per second. */
+    public static final double MAXIMUM_SPEED = 67;
   }
 
   /** Constants for the back roller. */
@@ -52,10 +57,9 @@ public static class BackRollerConstants {
       CONTROLLER_CONSTANTS.neutralBrake = true;
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
     }
-  }
 
-  /** Constants for the roller motor. */
-  public static class RollerConstants {
+    public static final double INTAKE_SPEED = 34;
+
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
   }
diff --git a/src/main/java/frc/robot/intake/IntakeState.java b/src/main/java/frc/robot/intake/IntakeState.java
@@ -1,14 +1,17 @@
 package frc.robot.intake;
 
 import edu.wpi.first.math.MathUtil;
+import frc.robot.intake.IntakeConstants.BackRollerConstants;
+import frc.robot.intake.IntakeConstants.FrontRollerConstants;
+
 import java.util.Objects;
 
 public record IntakeState(
     double frontRollerVelocityRotationsPerSecond, double backRollerVelocityRotationsPerSecond) {
 
   public static final IntakeState IDLE = new IntakeState(0, 0);
 
-  public static final IntakeState INTAKE = new IntakeState(34, 34);
+  public static final IntakeState INTAKE = new IntakeState(FrontRollerConstants.INTAKE_SPEED, BackRollerConstants.INTAKE_SPEED);
 
   public IntakeState {
     Objects.requireNonNull(frontRollerVelocityRotationsPerSecond);
diff --git a/src/main/java/frc/robot/shooter/ShooterConstants.java b/src/main/java/frc/robot/shooter/ShooterConstants.java
@@ -30,6 +30,14 @@ public static class SerializerConstants {
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 36.0 / 16.0;
     }
 
+    public static final double INTAKE_SPEED = 34;
+
+    public static final double PULL_SPEED = -20;
+
+    public static final double EJECT_SPEED = -44;
+
+    public static final double FEED_SPEED = 20;
+
     /** Maximum speed in rotations per second. */
     public static final double MAXIMUM_SPEED = 45.319;
   }
@@ -57,6 +65,12 @@ public static class FlywheelConstants {
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 36.0 / 16.0;
     }
 
+    public static final double SPEAKER_SPEED = 44;
+
+    public static final double PASS_SPEED = 44;
+
+    public static final double AMP_SPEED = 20;
+
     /** Maximum speed in rotations per second. */
     public static final double MAXIMUM_SPEED = 46.711;
   }
diff --git a/src/main/java/frc/robot/shooter/ShooterState.java b/src/main/java/frc/robot/shooter/ShooterState.java
@@ -1,28 +1,31 @@
 package frc.robot.shooter;
 
 import edu.wpi.first.math.MathUtil;
+import frc.robot.shooter.ShooterConstants.FlywheelConstants;
+import frc.robot.shooter.ShooterConstants.SerializerConstants;
+
 import java.util.Objects;
 
 public record ShooterState(
     double flywheelVelocityRotationsPerSecond, double serializerVelocityRotationsPerSecond) {
 
   public static final ShooterState IDLE = new ShooterState(0, 0);
 
-  public static final ShooterState INTAKE = new ShooterState(0, 34);
+  public static final ShooterState INTAKE = new ShooterState(0, SerializerConstants.INTAKE_SPEED);
 
-  public static final ShooterState PULL = new ShooterState(0, -20);
+  public static final ShooterState PULL = new ShooterState(0, SerializerConstants.PULL_SPEED);
 
-  public static final ShooterState EJECT = new ShooterState(0, -44);
+  public static final ShooterState EJECT = new ShooterState(0, SerializerConstants.EJECT_SPEED);
 
-  public static final ShooterState SPEAKER_READY = new ShooterState(44, 0);
+  public static final ShooterState SPEAKER_READY = new ShooterState(FlywheelConstants.SPEAKER_SPEED, 0);
 
-  public static final ShooterState SPEAKER_SHOOT = new ShooterState(44, 20);
+  public static final ShooterState SPEAKER_SHOOT = new ShooterState(FlywheelConstants.SPEAKER_SPEED, SerializerConstants.FEED_SPEED);
 
-  public static final ShooterState PASS_READY = new ShooterState(44, 0);
+  public static final ShooterState PASS_READY = new ShooterState(FlywheelConstants.PASS_SPEED, 0);
 
-  public static final ShooterState PASS_SHOOT = new ShooterState(44, 20);
+  public static final ShooterState PASS_SHOOT = new ShooterState(FlywheelConstants.PASS_SPEED, SerializerConstants.FEED_SPEED);
 
-  public static final ShooterState AMP_SHOOT = new ShooterState(20, 20);
+  public static final ShooterState AMP_SHOOT = new ShooterState(FlywheelConstants.AMP_SPEED, SerializerConstants.FEED_SPEED);
 
   public ShooterState {
     Objects.requireNonNull(flywheelVelocityRotationsPerSecond);
diff --git a/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java b/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
@@ -10,7 +10,7 @@
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import frc.lib.InterpolatableColor;
 import frc.robot.RobotConstants;
-import frc.robot.intake.IntakeConstants.RollerConstants;
+import frc.robot.intake.IntakeConstants.FrontRollerConstants;
 import frc.robot.shooter.ShooterConstants.FlywheelConstants;
 import frc.robot.shooter.ShooterConstants.SerializerConstants;
 
@@ -161,6 +161,6 @@ public void updateSuperstructure(SuperstructureState state) {
     rollers.setColor(
         new Color8Bit(
             ROLLERS_COLOR.sample(
-                Math.abs(averageRollerVelocity), 0, RollerConstants.MAXIMUM_SPEED)));
+                Math.abs(averageRollerVelocity), 0, FrontRollerConstants.MAXIMUM_SPEED)));
   }
 }

Original file line number	Diff line number	Diff line change
`@@ -28,6 +28,11 @@ public static class FrontRollerConstants {`
`28`	`28`	`CONTROLLER_CONSTANTS.neutralBrake = true;`
`29`	`29`	`CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;`
`30`	`30`	`}`
	`31`	`+`
	`32`	`+ public static final double INTAKE_SPEED = 34;`
	`33`	`+`
	`34`	`+ /** Maximum speed of the roller in rotations per second. */`
	`35`	`+ public static final double MAXIMUM_SPEED = 67;`
`31`	`36`	`}`
`32`	`37`
`33`	`38`	`/** Constants for the back roller. */`
`@@ -52,10 +57,9 @@ public static class BackRollerConstants {`
`52`	`57`	`CONTROLLER_CONSTANTS.neutralBrake = true;`
`53`	`58`	`CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;`
`54`	`59`	`}`
`55`		`- }`
`56`	`60`
`57`		`- /** Constants for the roller motor. */`
`58`		`- public static class RollerConstants {`
	`61`	`+ public static final double INTAKE_SPEED = 34;`
	`62`	`+`
`59`	`63`	`/** Maximum speed of the roller in rotations per second. */`
`60`	`64`	`public static final double MAXIMUM_SPEED = 67;`
`61`	`65`	`}`