Your code was messy so I cleaned it up :)

.gitignore

@@ -159,3 +159,76 @@ imgui.ini
 
 
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser

src/main/java/frc/robot/Constants.java

@@ -0,0 +1,145 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * 你好朋友！Be sure to read the following header documentation for a better of this class, and how to use it.
+ * <br />
+ * <br />
+ * <p>
+ * Starting with all the static constants (declared as public static final double), these values are only declared here,
+ * and are not added to the SmartDashboard. Since it can only be edited here,
+ * if you want to make a change you will have to change it in the code and then recompile. Not ideal,
+ * but hopefully for those constants you wont be changing those often.
+ * <p>
+ * However there are a few constants that you will want to edit without the need to recompile.
+ * For that you will use the SmartDashboard to display and edit those vales, but retrieving those can be somewhat tedious.
+ * <p>
+ * THis class aims to make that less tedious, and more intuitive.
+ * <p>
+ * To declare a new constant that you want to use within the SmartDashboard,
+ * use {@code public static final Constants k = new Constants("k", 10.0d)}.
+ * This will create an entry within SmartDashboard for k. To retrieve the values of K, use {@code k.getValue()}.
+ * <p>
+ * Once you have found a good default value, you can then return to the source code and adjust it here,
+ * and then recompile for next time.
+ *
+ * @author Spud
+ */
+public class Constants {
+
+	/**
+	 * Setpoint Shooting constants
+	 */
+	public static final double shooterPower = 0.7d;
+	public static final Constants feedSpeed = new Constants("feedSpeed", 5700d),
+			feedRatio = new Constants("feedRatio", 0.2d);
+
+	/**
+	 * Limelight and navX constants
+	 */
+	public static final Constants taShoot = new Constants("taShoot", 0.1d),
+			txShoot = new Constants("txShoot", 0.0d),
+			tyShoot = new Constants("tyShoot", 0.0d),
+			tx_kp = new Constants("tx_kp", 0.017d),
+			tx_ki = new Constants("tx_ki", 0.00002d),
+			tx_kd = new Constants("tx_kd", 0.0d),
+			tx_iMax = new Constants("tx_iMax", 0.02d),
+			ty_kp = new Constants("ty_kp", 0.016d),
+			ty_ki = new Constants("ty_ki", 0.0001d),
+			ty_kd = new Constants("ty_kd", 0.0d),
+			ahrs_kp = new Constants("ahrs_kp", 0.0002d),
+			ahrs_ki = new Constants("ahrs_ki", 0.000001d),
+			ahrs_kd = new Constants("ahrs_kd", 0.000001d);
+
+	/**
+	 * Shooter constants
+	 */
+	public static final double visionCenterHeight = 89.4d, //should be 89.75 base on official guild
+			cameraHeight = 6.6d, cameraAngle = 31d, distanceModifier = 1.115d,
+			gearRatioLow = 14.88d, gearRatioHigh = 6.55d, wheelRotationToInch = Math.PI * 6, shooterHeight = 20.0d,
+			g = 386.2d, goalHeight = 98.25d, shooterAngleMax = 65.0d, shooterAngleMin = 30.0d, goalDepth = 29.25d;
+	public static final Constants targetDistance = new Constants("targetDistance", 120.0d);
+
+	/**
+	 * PID Constants (What are these used for?)
+	 */
+	public static final double maxRPM = 5700d, dp_kp = 0.0018d,
+			dp_ki = 0.000002d, dp_kd = 0.000001d,
+			dp_kiz = 500d, dp_kff = 0.000175d;
+
+	/**
+	 * Shooter PID constants
+	 */
+	public static final Constants s_kp = new Constants("s_kp", 0.00010d),
+			s_ki = new Constants("s_ki", 0.0000001d),
+			s_kd = new Constants("s_kd", 0.0d),
+			s_kiz = new Constants("s_kiz", 1000d),
+			s_kff = new Constants("s_kff", 0.000175d),
+			s_kMaxOutput = new Constants("s_kMaxOutput", 0.0d),
+			s_kMinOutput = new Constants("s_kMinOutput", -1.0d),
+			s_iAccum = new Constants("s_iAccum", 0.0d);
+
+	/**
+	 * Revolver PID constants
+	 */
+	public static final Constants r_kp = new Constants("r_kp", 0.0001d),
+			r_ki = new Constants("r_ki", 0.000000d),
+			r_kd = new Constants("r_kd", 0.0d),
+			r_kiz = new Constants("r_kiz", 0.0d),
+			r_kff = new Constants("r_kff", 0.0002d);
+
+	/**
+	 * Feeder PID constants
+	 */
+	public static final Constants f_kp = new Constants("f_kp", 0.0001d),
+			f_ki = new Constants("f_ki", 0.0000010d),
+			f_kd = new Constants("f_kd", 0.0d),
+			f_kiz = new Constants("f_kiz", 1500.0d),
+			f_kff = new Constants("f_kff", 0.00019d);
+
+	/**
+	 * Drivertrain PID Constants
+	 */
+	public static final Constants dv_kp = new Constants("dv_kp", 0.000005d),
+			dv_ki = new Constants("dv_ki", 0.0000005d),
+			dv_kd = new Constants("dv_kd", 0.000001d),
+			dv_kiz = new Constants("dv_kiz", 500.0d),
+			dv_kff = new Constants("dv_kff", 0.000175d);
+
+	/**
+	 * The key of the value used by Smartdashboard.
+	 * This is never really used by the end user other than in the SmartDashboard, so it doesn't need a getter method.
+	 */
+	protected String key;
+
+	/**
+	 * The value of the constant.
+	 * Because this will be retrieved from the SmartDashboard a custom getter method should be used.
+	 */
+	private double value;
+
+	/**
+	 * Creates a constant value that will be added to the SmartDashboard.
+	 *
+	 * @param key          The key of the constant. Aside from being used on SmartDashboard,
+	 *                     this value is never accessed outside this class.
+	 * @param defaultValue The default value of this constant. If nothing is provided within SmartDashboard for this entry,
+	 *                     this value will be returned instead.
+	 */
+	public Constants(String key, double defaultValue) {
+		this.key = key;
+		this.value = defaultValue;
+		SmartDashboard.putNumber(this.key, this.value);
+	}
+
+	/**
+	 * Gets the value of the constant from SmartDashboard. This will always return a value.
+	 * Even if nothing is in SmartDashboard, the default value provided at the constructor of the constant will be returned.
+	 *
+	 * @return The value of the constant from SmartDashboard.
+	 */
+	public double getValue() {
+		return SmartDashboard.getNumber(this.key, this.value);
+	}
+}