From 022f72c9212fe437e5301bf8c7284a8fc4478200 Mon Sep 17 00:00:00 2001 From: Aztechs157-Git Date: Tue, 30 Jun 2026 20:01:32 -0400 Subject: [PATCH] Remove unnecessary constants and move ModifierConstants to Drive file - JR --- .../org/team157/robot/BuildConstants.java | 12 +++---- .../java/org/team157/robot/Constants.java | 33 ------------------- .../org/team157/robot/RobotContainer.java | 4 +-- .../team157/robot/commands/DriveCommands.java | 2 +- .../team157/robot/subsystems/drive/Drive.java | 25 ++++++++++++++ .../robot/subsystems/turret/Turret.java | 4 +-- 6 files changed, 36 insertions(+), 44 deletions(-) diff --git a/src/main/java/org/team157/robot/BuildConstants.java b/src/main/java/org/team157/robot/BuildConstants.java index ec81a0d..5ca47aa 100644 --- a/src/main/java/org/team157/robot/BuildConstants.java +++ b/src/main/java/org/team157/robot/BuildConstants.java @@ -5,12 +5,12 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "FRC2026"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 460; - public static final String GIT_SHA = "45b76112dba23d794e7cde47a6e4d6e09bb7f405"; - public static final String GIT_DATE = "2026-06-22 19:12:47 EDT"; - public static final String GIT_BRANCH = "feature/anti-slime"; - public static final String BUILD_DATE = "2026-06-22 19:19:06 EDT"; - public static final long BUILD_UNIX_TIME = 1782170346578L; + public static final int GIT_REVISION = 462; + public static final String GIT_SHA = "09a2b1612d14a57e740214f99805b0b4ccd064e9"; + public static final String GIT_DATE = "2026-06-22 19:35:00 EDT"; + public static final String GIT_BRANCH = "constantsCleanup"; + public static final String BUILD_DATE = "2026-06-30 19:57:22 EDT"; + public static final long BUILD_UNIX_TIME = 1782863842165L; public static final int DIRTY = 1; private BuildConstants() {} diff --git a/src/main/java/org/team157/robot/Constants.java b/src/main/java/org/team157/robot/Constants.java index 5661d0f..e63362f 100644 --- a/src/main/java/org/team157/robot/Constants.java +++ b/src/main/java/org/team157/robot/Constants.java @@ -38,39 +38,6 @@ public static enum Mode { } public static final CANBus RIO_CAN_BUS = new CANBus("rio", "./logs/example.hoot"); - public static final CANBus DRIVE_CAN_BUS = new CANBus("canivore", "./logs/example2.hoot"); - - public static class ModifierConstants { - public static final DriveControlMode currentControlMode = DriveControlMode.ROOKIE; - - public static enum DriveControlMode { - /** No unique mode active. */ - STANDARD, - - /** Rookie mode. Applies ~60% drive speed modifier. */ - ROOKIE, - - /** Super Rookie mode. Applies ~35% drive speed modifier. */ - SUPER_ROOKIE, - - /** Demo mode. Applies ~35% drive speed modifier and enables demo commands. */ - DEMO - } - - // Drive speed reduction factors - public static final double PRECISION_DRIVE_MODIFIER = 0.4; - public static final double NEUTRAL_DRIVE_MODIFIER = 0.5687; - public static final double TRENCH_DRIVE_MODIFIER = 0.8; - public static final double ROOKIE_DRIVE_MODIFIER = 0.5940; - public static final double DEMO_DRIVE_MODIFIER = 0.3467; - } - - public static class ControllerConstants { - // Ports for the Joysticks, as set in Driver Station - public static final int DRIVER_CONTROLLER_PORT = 0, OPERATOR_CONTROLLER_PORT = 1; - // Joystick Deadband - public static final double JOYSTICK_DEADBAND = 0.05; - } public static class FieldConstants { public static final Distance FIELD_LENGTH = Meters.of(16.54175); diff --git a/src/main/java/org/team157/robot/RobotContainer.java b/src/main/java/org/team157/robot/RobotContainer.java index c7e9563..5055b6e 100644 --- a/src/main/java/org/team157/robot/RobotContainer.java +++ b/src/main/java/org/team157/robot/RobotContainer.java @@ -22,14 +22,14 @@ import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import org.team157.robot.Constants.FieldConstants; import org.team157.robot.Constants.Mode; -import org.team157.robot.Constants.ModifierConstants; -import org.team157.robot.Constants.ModifierConstants.DriveControlMode; import org.team157.robot.commands.DriveCommands; import org.team157.robot.generated.TunerConstants; import org.team157.robot.subsystems.HubTimer; import org.team157.robot.subsystems.LEDs; import org.team157.robot.subsystems.SunstoneMechanism3D; import org.team157.robot.subsystems.drive.Drive; +import org.team157.robot.subsystems.drive.Drive.ModifierConstants; +import org.team157.robot.subsystems.drive.Drive.ModifierConstants.DriveControlMode; import org.team157.robot.subsystems.drive.GyroIO; import org.team157.robot.subsystems.drive.GyroIOPigeon2; import org.team157.robot.subsystems.drive.ModuleIO; diff --git a/src/main/java/org/team157/robot/commands/DriveCommands.java b/src/main/java/org/team157/robot/commands/DriveCommands.java index d6ff7fa..ab55b10 100644 --- a/src/main/java/org/team157/robot/commands/DriveCommands.java +++ b/src/main/java/org/team157/robot/commands/DriveCommands.java @@ -28,8 +28,8 @@ import java.util.List; import java.util.function.DoubleSupplier; import java.util.function.Supplier; -import org.team157.robot.Constants.ModifierConstants; import org.team157.robot.subsystems.drive.Drive; +import org.team157.robot.subsystems.drive.Drive.ModifierConstants; public class DriveCommands { private static final double DEADBAND = 0.2; diff --git a/src/main/java/org/team157/robot/subsystems/drive/Drive.java b/src/main/java/org/team157/robot/subsystems/drive/Drive.java index fe46322..e92c5cd 100644 --- a/src/main/java/org/team157/robot/subsystems/drive/Drive.java +++ b/src/main/java/org/team157/robot/subsystems/drive/Drive.java @@ -52,6 +52,31 @@ import org.team157.robot.util.LocalADStarAK; public class Drive extends SubsystemBase { + public static class ModifierConstants { + public static final DriveControlMode currentControlMode = DriveControlMode.STANDARD; + + public static enum DriveControlMode { + /** No unique mode active. */ + STANDARD, + + /** Rookie mode. Applies ~60% drive speed modifier. */ + ROOKIE, + + /** Super Rookie mode. Applies ~35% drive speed modifier. */ + SUPER_ROOKIE, + + /** Demo mode. Applies ~35% drive speed modifier and enables demo commands. */ + DEMO + } + + // Drive speed reduction factors + public static final double PRECISION_DRIVE_MODIFIER = 0.4; + public static final double NEUTRAL_DRIVE_MODIFIER = 0.5687; + public static final double TRENCH_DRIVE_MODIFIER = 0.8; + public static final double ROOKIE_DRIVE_MODIFIER = 0.5940; + public static final double DEMO_DRIVE_MODIFIER = 0.3467; + } + // TunerConstants doesn't include these constants, so they are declared locally static final double ODOMETRY_FREQUENCY = TunerConstants.kCANBus.isNetworkFD() ? 250.0 : 100.0; public static final double DRIVE_BASE_RADIUS = diff --git a/src/main/java/org/team157/robot/subsystems/turret/Turret.java b/src/main/java/org/team157/robot/subsystems/turret/Turret.java index 2ec7af4..26e068e 100644 --- a/src/main/java/org/team157/robot/subsystems/turret/Turret.java +++ b/src/main/java/org/team157/robot/subsystems/turret/Turret.java @@ -8,9 +8,9 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; -import org.team157.robot.Constants.ModifierConstants; -import org.team157.robot.Constants.ModifierConstants.DriveControlMode; import org.team157.robot.Robot; +import org.team157.robot.subsystems.drive.Drive.ModifierConstants; +import org.team157.robot.subsystems.drive.Drive.ModifierConstants.DriveControlMode; import org.team157.robot.subsystems.vision.Vision; /**