Conventions

No functional change

src/main/java/frc4388/robot/Constants.java

@@ -127,6 +127,20 @@ public final class Constants {
         public static final double ENCODER_TICKS_PER_REV = 2048;
         public static final double NEO_UNITS_PER_REV = 42;
         public static final double DEGREES_PER_ROT = 360;
+
+        public static final int TURRET_RIGHT_SOFT_LIMIT = -2;
+        public static final int TURRET_LEFT_SOFT_LIMIT = -55;
+        public static final double TURRET_SPEED_MULTIPLIER = 0.3;
+        public static final double TURRET_CALIBRATE_SPEED = 0.075;
+
+        public static final int HOOD_UP_SOFT_LIMIT = 33;
+        public static final int HOOD_DOWN_SOFT_LIMIT = 3;
+        public static final double HOOD_CONVERT_SLOPE = 0.47;
+        public static final double HOOD_CONVERT_B = 40.5;
+        public static final double HOOD_CALIBRATE_SPEED = 0.1;
+
+        public static final double DRUM_RAMP_LIMIT = 1000;
+        public static final double DRUM_VELOCITY_BOUND = 300;
     }
     
     public static final class ClimberConstants {
@@ -142,6 +156,7 @@ public final class Constants {
         public static final double STORAGE_PARTIAL_BALL = 2;
         public static final double STORAGE_FULL_BALL = 7;
         public static final double STORAGE_SPEED = 0.5;
+        public static final double STORAGE_TIMEOUT = 2000;
        
         /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;

src/main/java/frc4388/robot/commands/CalibrateShooter.java

@@ -11,6 +11,7 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.ShooterAim;
 
@@ -18,7 +19,9 @@ public class CalibrateShooter extends CommandBase {
   Shooter m_shooter;
   ShooterAim m_shooterAim;
   /**
-   * Creates a new CalibrateShooter.
+   * Calibrates the turret by moving the hood all the way down and moving the turret all the way right, then reseting the encoders
+   * @param shootSub The Shooter subsystem
+   * @param aimSub The ShooterAim subsystem
    */
   public CalibrateShooter(Shooter shootSub, ShooterAim aimSub) {
     m_shooter = shootSub;
@@ -37,12 +40,12 @@ public class CalibrateShooter extends CommandBase {
     m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
     m_shooter.m_angleEncoder.setPosition(0);
-    m_shooter.m_angleAdjustMotor.set(-0.1);
+    m_shooter.m_angleAdjustMotor.set(-ShooterConstants.HOOD_CALIBRATE_SPEED);
 
     m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
     m_shooterAim.m_shooterRotateEncoder.setPosition(0);
-    m_shooterAim.m_shooterRotateMotor.set(0.075);
+    m_shooterAim.m_shooterRotateMotor.set(ShooterConstants.TURRET_CALIBRATE_SPEED);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc4388/robot/commands/HoldTarget.java

@@ -40,6 +40,8 @@ public class HoldTarget extends CommandBase {
 
   /**
    * Uses the Limelight to track the target
+   * @param shooterSubsystem The Shooter subsystem
+   * @param aimSubsystem The ShooterAim subsystem
    */
   public HoldTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
     m_shooterAim = aimSubsystem;

src/main/java/frc4388/robot/commands/HoodPositionPID.java

@@ -9,6 +9,7 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.subsystems.Shooter;
 
 public class HoodPositionPID extends CommandBase {
@@ -30,7 +31,9 @@ public class HoodPositionPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    firingAngle = (-0.47*m_shooter.addFireAngle())+40.5;
+    double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
+    double b = ShooterConstants.HOOD_CONVERT_B;
+    firingAngle = (-slope*m_shooter.addFireAngle())+b;
     SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
     SmartDashboard.putNumber("Fire Angle", firingAngle);
     m_shooter.runAngleAdjustPID(firingAngle);

src/main/java/frc4388/robot/commands/ShootPrepGroup.java

@@ -18,7 +18,7 @@ import frc4388.robot.subsystems.Storage;
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
 public class ShootPrepGroup extends ParallelCommandGroup {
   /**
-   * Preps the Shooter to be fired
+   * Prepares the Shooter to be fired
    * @param m_shooter The Shooter subsytem
    * @param m_shooterAim The ShooterAim subsystem
    * @param m_storage The Storage subsytem

src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java

@@ -9,6 +9,7 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.subsystems.Shooter;
 
 public class ShooterVelocityControlPID extends CommandBase {
@@ -16,9 +17,8 @@ public class ShooterVelocityControlPID extends CommandBase {
   double m_targetVel;
   double m_actualVel;
   /**
-   * Creates a new ShooterVelocityControlPID.
+   * Runs the drum at a velocity
    * @param subsystem The Shooter subsytem
-   * @param targetVel The target velocity
    */
   public ShooterVelocityControlPID(Shooter subsystem) {
     m_shooter = subsystem;
@@ -48,9 +48,9 @@ public class ShooterVelocityControlPID extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    //Tells wether the target velocity has been reached
+    //Tells whether the target velocity has been reached
-    double upperBound = m_targetVel + 300;
+    double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
-    double lowerBound = m_targetVel - 300;
+    double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
     if (m_actualVel < upperBound && m_actualVel > lowerBound){
       SmartDashboard.putBoolean("ShooterVelocityPID Finished", true);
       return true;

src/main/java/frc4388/robot/commands/StorageIntake.java

@@ -18,7 +18,9 @@ public class StorageIntake extends CommandBase {
   public Storage m_storage;
   public boolean intook;
   /**
-   * Creates a new storageIntake.
+   * Runs the Storage in for intaking
+   * @param inSub The Intake subsystem
+   * @param storeSub The Storage subsytem
    */
   public StorageIntake(Intake inSub, Storage storeSub) {
     m_intake = inSub;

src/main/java/frc4388/robot/commands/StorageOutake.java

@@ -14,7 +14,8 @@ import frc4388.robot.subsystems.Storage;
 public class StorageOutake extends CommandBase {
   Storage m_storage;
   /**
-   * Creates a new storageOutake.
+   * Runs the Storage out for outaking
+   * @param storeSub The Storage subsystem
    */
   public StorageOutake(Storage storeSub) {
     m_storage = storeSub;

src/main/java/frc4388/robot/commands/StoragePositionPID.java

@@ -15,7 +15,8 @@ public class StoragePositionPID extends CommandBase {
   public Storage m_storage;
   double startPos;
   /**
-   * Creates a new StoragePositionPID.
+   * Moves the storage a number of rotations
+   * @param subsystem The Storage subsystem
    */
   public StoragePositionPID(Storage subsystem) {
     m_storage = subsystem;

src/main/java/frc4388/robot/commands/StoragePrepAim.java

@@ -14,8 +14,10 @@ import frc4388.robot.subsystems.Storage;
 
 public class StoragePrepAim extends CommandBase {
   Storage m_storage;
+  double startTime;
   /**
-   * Creates a new storagePrepAim.
+   * Prepares the Storage for aiming
+   * @param storeSub The Storage subsystem
    */
   public StoragePrepAim(Storage storeSub) {
     m_storage = storeSub;
@@ -25,6 +27,7 @@ public class StoragePrepAim extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    startTime = System.currentTimeMillis();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -46,7 +49,7 @@ public class StoragePrepAim extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (!m_storage.getBeam(1)){
+    if (!m_storage.getBeam(1) || startTime + StorageConstants.STORAGE_TIMEOUT <= System.currentTimeMillis()){
       SmartDashboard.putBoolean("StoragePrepAim Finished", true);
       return true;
     }

src/main/java/frc4388/robot/commands/StoragePrepIntake.java

@@ -18,7 +18,9 @@ public class StoragePrepIntake extends CommandBase {
   public double startTime;
 
   /**
-   * Creates a new StoragePrepIntake.
+   * Prepares the Storage for intaking
+   * @param inSub The Intake subsystem
+   * @param storeSub the Storage subsystem
    */
   public StoragePrepIntake(Intake inSub, Storage storeSub) {
     m_intake = inSub;
@@ -52,7 +54,7 @@ public class StoragePrepIntake extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (!m_storage.getBeam(0) || startTime + 2000 <= System.currentTimeMillis()){
+    if (!m_storage.getBeam(0) || startTime + StorageConstants.STORAGE_TIMEOUT <= System.currentTimeMillis()){
       return true;
     }
     return false;

src/main/java/frc4388/robot/commands/StorageRun.java

@@ -29,7 +29,6 @@ public class StorageRun extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    System.err.println("oiudhgisbjkljasbhfkofhdnsekdfjbsjfvsdkcfbsdjhfgvsdkjfbsd");
     m_storage.runStorage(StorageConstants.STORAGE_SPEED);
   }
 

src/main/java/frc4388/robot/commands/TrackTarget.java

@@ -44,6 +44,8 @@ public class TrackTarget extends CommandBase {
 
   /**
    * Uses the Limelight to track the target
+   * @param shooterSubsystem The Shooter subsystem
+   * @param aimSubsystem The ShooterAim subsystem
    */
   public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
     m_shooterAim = aimSubsystem;

src/main/java/frc4388/robot/commands/TrimShooter.java

@@ -23,7 +23,8 @@ public class TrimShooter extends CommandBase {
 
   public Shooter m_shooter;
   /**
-   * Creates a new TrimShooter.
+   * Trims the shooter based on the D-Pad inputs
+   * @param shootSub The Shooter subsytems
    */
   public TrimShooter(Shooter shootSub) {
     m_shooter = shootSub;

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -57,7 +57,7 @@ public class Shooter extends SubsystemBase {
   public Trims shooterTrims;
   
   /*
-   * Creates a new Shooter subsystem.
+   * Creates a new Shooter subsystem, with the drum shooter and the angle adjsuter.
    */
   public Shooter() {
     //Testing purposes reseting gyros
@@ -100,8 +100,8 @@ public class Shooter extends SubsystemBase {
 
     m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
     m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
-    m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, 33);
+    m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_UP_SOFT_LIMIT);
-    m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, 3);
+    m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_DOWN_SOFT_LIMIT);
     
   }
 
@@ -159,7 +159,7 @@ public class Shooter extends SubsystemBase {
    */
   public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
     SmartDashboard.putNumber("shoot", actualVel);
-    if (actualVel < targetVel - 1000){
+    if (actualVel < targetVel - ShooterConstants.DRUM_RAMP_LIMIT){
       m_shooterFalcon.set(TalonFXControlMode.PercentOutput, 1);//Ramp up
     }
     else{ //PID Based on targetVel

src/main/java/frc4388/robot/subsystems/ShooterAim.java

@@ -34,7 +34,7 @@ public class ShooterAim extends SubsystemBase {
 
 
   /**
-   * Creates a new ShooterAim.
+   * Creates a subsytem for the turret aiming
    */
   public ShooterAim() {
     //resetGyroShooterRotate();
@@ -47,12 +47,12 @@ public class ShooterAim extends SubsystemBase {
 
     m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
-    m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, -2);
+    m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
-    m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, -56);
+    m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_LEFT_SOFT_LIMIT);
   }
 
   public void runShooterWithInput(double input) {
-    m_shooterRotateMotor.set(input/3);
+    m_shooterRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
   }
 
 

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -102,15 +102,4 @@ public class Storage extends SubsystemBase {
   public void setStoragePID(double position){
     m_storagePIDController.setReference(position , ControlType.kPosition);
   }
-
-
-  /*
-  If pressing aim
-    run unti; hitting top beam
-  else
-    Run until hitting bottom beam
-    dont run intake if balls not at bottom
-  
-  2 beamms total
-  */
 }