The Great Clean

.vscode/settings.json

@@ -60,6 +60,28 @@
     "stdexcept": "cpp",
     "streambuf": "cpp",
     "typeinfo": "cpp",
-    "*.inc": "cpp"
-  }
+    "*.inc": "cpp",
+    "hash_map": "cpp",
+    "hash_set": "cpp",
+    "chrono": "cpp",
+    "codecvt": "cpp",
+    "complex": "cpp",
+    "condition_variable": "cpp",
+    "cstring": "cpp",
+    "ctime": "cpp",
+    "list": "cpp",
+    "unordered_set": "cpp",
+    "filesystem": "cpp",
+    "map": "cpp",
+    "optional": "cpp",
+    "ratio": "cpp",
+    "set": "cpp",
+    "fstream": "cpp",
+    "future": "cpp",
+    "iomanip": "cpp",
+    "mutex": "cpp",
+    "sstream": "cpp",
+    "thread": "cpp",
+    "cinttypes": "cpp"
+}
 }

src/main/cpp/Robot.cpp

@@ -1,51 +1,32 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
-
 #include "Robot.h"
-#include <iostream>
 
+#include <cameraserver/CameraServer.h>
+#include <frc/RobotController.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
-#include <frc/RobotController.h>
 
-#include <cameraserver/CameraServer.h>
 
 void Robot::RobotInit() {
-    //frc::CameraServer::GetInstance()->StartAutomaticCapture(0);
-    //frc::CameraServer::GetInstance()->StartAutomaticCapture(1);
+    // frc::CameraServer::GetInstance()->StartAutomaticCapture(0);
+    // frc::CameraServer::GetInstance()->StartAutomaticCapture(1);
     frc::RobotController::SetBrownoutVoltage(6_V);
 }
 
-/**
- * This function is called every robot packet, no matter the mode. Use
- * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
- *
- * <p> This runs after the mode specific periodic functions, but before
- * LiveWindow and SmartDashboard integrated updating.
- */
+
 void Robot::RobotPeriodic() {
     frc2::CommandScheduler::GetInstance().Run();
 }
 
-/**
- * This function is called once each time the robot enters Disabled mode. You
- * can use it to reset any subsystem information you want to clear when the
- * robot is disabled.
- */
 
 void Robot::DisabledInit() {}
 
+
 void Robot::DisabledPeriodic() {}
 
-/**
- * This autonomous runs the autonomous command selected by your {@link
- * RobotContainer} class.
- */
 
 void Robot::AutonomousInit() {
-    //m_container.m_drivetrain.SetIdleMode(rev::CANSparkMax::IdleMode::kBrake);
+
+    // m_container.m_drivetrain.SetIdleMode(rev::CANSparkMax::IdleMode::kBrake);
 
     m_autonomousCommand = m_container.GetAutonomousCommand();
 
@@ -58,28 +39,23 @@ void Robot::AutonomousInit() {
 void Robot::AutonomousPeriodic() {}
 
 void Robot::TeleopInit() {
-    //m_container.m_drivetrain.SetIdleMode(rev::CANSparkMax::IdleMode::kCoast);
 
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
+    // m_container.m_drivetrain.SetIdleMode(rev::CANSparkMax::IdleMode::kCoast);
+
     if (m_autonomousCommand != nullptr) {
         m_autonomousCommand->Cancel();
         m_autonomousCommand = nullptr;
     }
+
 }
 
-/**
- * This function is called periodically during operator control.
- */
+
 void Robot::TeleopPeriodic() {}
 
-/**
- * This function is called periodically during test mode.
- */
+
 void Robot::TestPeriodic() {}
 
+
 #ifndef RUNNING_FRC_TESTS
 int main() {
     return frc::StartRobot<Robot>();

src/main/cpp/RobotContainer.cpp

@@ -22,17 +22,18 @@
 
 RobotContainer::RobotContainer() {
 
-    m_chooser.SetDefaultOption("Only Taxi", &m_only_taxi);
+    m_chooser.SetDefaultOption("1 Ball", &m_ball1);
     m_chooser.AddOption("2 Ball", &m_ball2);
-    m_chooser.AddOption("2 Ball b", &m_ball2b);
-    m_chooser.AddOption("3 Ball", &m_ball3);
+    // m_chooser.AddOption("2 Ball v2", &m_ball2b);
+    // m_chooser.AddOption("3 Ball", &m_ball3);
 
     frc::SmartDashboard::PutData(&m_chooser);
 
     // Initialize all of your commands and subsystems here
     // ((-m_stick2.GetThrottle() + 2) / 3)
     m_drivetrain.SetDefaultCommand(
         TankDrive(
+            m_drivetrain,
             [this] {
                 return ( - 
                     (
@@ -90,34 +91,24 @@ RobotContainer::RobotContainer() {
                         // arcade
                     ) * ((-m_stick2.GetThrottle() + 2) / 3)
                 );
-            },
-            m_drivetrain
+            }
         )
     );
 
-/* no u
-*/
-
     m_arm.SetDefaultCommand(
         ArmDrive(
+            m_arm,
             [this] {
                 return (
                     m_stick3.GetY() / 5
                 );
-            },
-            m_arm
+            }
         )
     );
 
     // Configure the button bindings
     ConfigureButtonBindings();
 
-    // if (m_stick2.GetRawButton(3)){
-    //     speed += 0.01;
-    // }
-    // if (m_stick2.GetRawButton(5)){
-    //     speed -= 0.01;
-    // }
 }
 
 void RobotContainer::ConfigureButtonBindings() {
@@ -131,6 +122,5 @@ void RobotContainer::ConfigureButtonBindings() {
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
-    // An example command will be run in autonomous
     return m_chooser.GetSelected();
 }

src/main/cpp/commands/ArmDrive.cpp

@@ -1,23 +1,25 @@
 #include "commands/ArmDrive.h"
 
-#include <utility>
-
 #include "Robot.h"
 
+
 ArmDrive::ArmDrive(
-        std::function<double()> speed,
-        Arm& arm):
-            m_speed(std::move(speed)),
-            m_arm(&arm){
+        Arm& arm,
+        std::function<double()> speed):
+            m_arm(&arm),
+            m_speed(std::move(speed)){
 
     SetName("ArmDrive");
     AddRequirements({m_arm});
+
 }
 
+
 void ArmDrive::Execute() {
     m_arm->Rotate(m_speed());
 }
 
+
 void ArmDrive::End(bool) {
     m_arm->Rotate(0);
 }

src/main/cpp/commands/ArmMove.cpp

@@ -1,5 +1,6 @@
 #include "commands/ArmMove.h"
 
+
 ArmMove::ArmMove(
         Arm& arm,
         double speed,
@@ -15,8 +16,8 @@ ArmMove::ArmMove(
 
 void ArmMove::Initialize(){
 
-    periods = 0;
-    period_target = m_duration * 50;
+    m_periods = 0;
+    m_periodTarget = m_duration * 50;
 
     m_arm->Stop();
 
@@ -25,13 +26,13 @@ void ArmMove::Initialize(){
 void ArmMove::Execute(){
 
     m_arm->Rotate(m_speed);
-    periods++;
+    m_periods++;
 
 }
 
 bool ArmMove::IsFinished(){
 
-    return (periods >= period_target);
+    return (m_periods >= m_periodTarget);
 
 }
 

src/main/cpp/commands/IntakeDrive.cpp

@@ -14,14 +14,17 @@ IntakeDrive::IntakeDrive(
 
 }
 
+
 void IntakeDrive::Initialize(){
     m_intake->Stop();
 }
 
+
 void IntakeDrive::Execute() {
     m_intake->Rotate(m_speed);
 }
 
+
 void IntakeDrive::End(bool){
     m_intake->Stop();
 }

src/main/cpp/commands/IntakeMove.cpp

@@ -1,5 +1,6 @@
 #include "commands/IntakeMove.h"
 
+
 IntakeMove::IntakeMove(
         Intake& intake,
         double speed,
@@ -15,8 +16,8 @@ IntakeMove::IntakeMove(
 
 void IntakeMove::Initialize(){
 
-    periods = 0;
-    period_target = m_duration * 50;
+    m_periods = 0;
+    m_periodTarget = m_duration * 50;
 
     m_intake->Stop();
 
@@ -25,13 +26,13 @@ void IntakeMove::Initialize(){
 void IntakeMove::Execute(){
 
     m_intake->Rotate(m_speed);
-    periods++;
+    m_periods++;
 
 }
 
 bool IntakeMove::IsFinished(){
 
-    return (periods >= period_target);
+    return (m_periods >= m_periodTarget);
 
 }
 

src/main/cpp/commands/TankDrive.cpp

@@ -1,38 +1,32 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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.
-
 #include "commands/TankDrive.h"
 
-#include <utility>
-
 #include "Robot.h"
 
-// Initialises the command with its name and requirements
+
 TankDrive::TankDrive(
+        Drivetrain& drivetrain,
         std::function<double()> left,
-        std::function<double()> right,
-        Drivetrain& drivetrain):
+        std::function<double()> right):
+            m_drivetrain(&drivetrain),
             m_left(std::move(left)),
-            m_right(std::move(right)),
-            m_drivetrain(&drivetrain){
+            m_right(std::move(right)){
 
     SetName("TankDrive");
     AddRequirements({m_drivetrain});
 
 }
 
-// Called repeatedly when this Command is scheduled to run
+
 void TankDrive::Execute() {
     m_drivetrain->Drive(m_left(), m_right());
 }
 
-// Make this return true when this Command no longer needs to run execute()
+
 bool TankDrive::IsFinished() {
   return false;
 }
 
-// Called once after isFinished returns true
+
 void TankDrive::End(bool) {
   m_drivetrain->Drive(0, 0);
 }