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Cleanup of Constants File #108

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Cleanup of Constants File #108

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12 changes: 6 additions & 6 deletions src/main/java/org/team157/robot/BuildConstants.java
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Expand Up @@ -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() {}
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33 changes: 0 additions & 33 deletions src/main/java/org/team157/robot/Constants.java
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Expand Up @@ -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);
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4 changes: 2 additions & 2 deletions src/main/java/org/team157/robot/RobotContainer.java
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Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion src/main/java/org/team157/robot/commands/DriveCommands.java
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Expand Up @@ -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;
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25 changes: 25 additions & 0 deletions src/main/java/org/team157/robot/subsystems/drive/Drive.java
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Expand Up @@ -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 =
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4 changes: 2 additions & 2 deletions src/main/java/org/team157/robot/subsystems/turret/Turret.java
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Expand Up @@ -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;

/**
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