Magic Numbers Fix

Author: Tortuga-AM

.github/scripts/constants.py

@@ -9,7 +9,8 @@
 excused_dirs = [
     "bin",
     "build",
-    "src/main/java/frc/robot/pioneersLib"
+    "src/main/java/frc/robot/pioneersLib",
+    "src/main/java/frc/robot/teamLib"
 ]
 
 # Weird stuff that shouldn't go in constants, dont put function/var names in here theyre already checked

src/main/java/frc/robot/Subsystems/Drive/Drive.java

@@ -123,15 +123,15 @@ public void stop() {
   }
 
   public void tankDrive(double leftSpeed, double rightSpeed) {
-    double left = MathUtil.applyDeadband(leftSpeed, 0.02);
-    double right = MathUtil.applyDeadband(rightSpeed, 0.02);
+    double left = MathUtil.applyDeadband(leftSpeed, DEADBAND);
+    double right = MathUtil.applyDeadband(rightSpeed, DEADBAND);
 
     runClosedLoop(left * MAX_SPEED_METERS_PER_SEC, right * MAX_SPEED_METERS_PER_SEC);
   }
 
   public void arcadeDrive(double forward, double rotation) {
-    double x = MathUtil.applyDeadband(forward, 0.02);
-    double z = MathUtil.applyDeadband(rotation, 0.02);
+    double x = MathUtil.applyDeadband(forward, DEADBAND);
+    double z = MathUtil.applyDeadband(rotation, DEADBAND);
 
     // Calculate speeds
     var speeds = DifferentialDrive.arcadeDriveIK(x, z, true);

src/main/java/frc/robot/Subsystems/Drive/DriveConstants.java

@@ -22,6 +22,14 @@ public class DriveConstants {
   public static final boolean RIGHT_INVERTED = true;
   public static final DCMotor GEARBOX = DCMotor.getCIM(2);
 
+  public static final double DEADBAND = 0.02;
+  public static final double SLOW_MODE_MULTIPLIER = 0.3;
+  public static final double VOLTAGE_COMPENSATION = 12.0;
+  public static final double TICKS_PER_REVOLUTION = 1440.0;
+  public static final double SENSOR_VELOCITY_CONVERSION = 10.0; // ticks per 100ms to per sec
+  public static final double SIM_UPDATE_PERIOD_SEC = 0.02;
+  public static final double CURRENT_LIMIT_OFFSET = 15.0;
+
   // Velocity PID configuration
   public static final double REAL_KP = 0.0;
   public static final double REAL_KD = 0.0;

src/main/java/frc/robot/Subsystems/Drive/DriveIOReal.java

@@ -12,7 +12,7 @@
 
 /** This drive implementation is for Talon SRXs driving brushed motors (e.g. CIMS) with encoders. */
 public class DriveIOReal implements DriveIO {
-  private static final double ticksPerRevolution = 1440;
+  private static final double ticksPerRevolution = TICKS_PER_REVOLUTION;
 
   private final TalonSRX leftLeader = new TalonSRX(LEFT_LEADER_CAN_ID);
   private final TalonSRX leftFollower = new TalonSRX(LEFT_FOLLOWER_CAN_ID);
@@ -22,9 +22,9 @@ public class DriveIOReal implements DriveIO {
   public DriveIOReal() {
     var config = new TalonSRXConfiguration();
     config.peakCurrentLimit = CURRENT_LIMIT;
-    config.continuousCurrentLimit = CURRENT_LIMIT - 15;
+    config.continuousCurrentLimit = CURRENT_LIMIT - (int)CURRENT_LIMIT_OFFSET;
     config.peakCurrentDuration = 250;
-    config.voltageCompSaturation = 12.0;
+    config.voltageCompSaturation = VOLTAGE_COMPENSATION;
     config.primaryPID.selectedFeedbackSensor = FeedbackDevice.QuadEncoder;
 
     leftLeader.configAllSettings(config);
@@ -47,7 +47,7 @@ public void updateInputs(DriveIOInputs inputs) {
         Units.rotationsToRadians(
             leftLeader.getSelectedSensorVelocity()
                 / ticksPerRevolution
-                * 10.0); // Raw units are ticks per 100ms :(
+                * SENSOR_VELOCITY_CONVERSION); // Raw units are ticks per 100ms :(
     inputs.leftAppliedVolts = leftLeader.getMotorOutputVoltage();
     inputs.leftCurrentAmps =
         new double[] {leftLeader.getStatorCurrent(), leftFollower.getStatorCurrent()};
@@ -58,7 +58,7 @@ public void updateInputs(DriveIOInputs inputs) {
         Units.rotationsToRadians(
             rightLeader.getSelectedSensorVelocity()
                 / ticksPerRevolution
-                * 10.0); // Raw units are ticks per 100ms :(
+                * SENSOR_VELOCITY_CONVERSION); // Raw units are ticks per 100ms :(
     inputs.rightAppliedVolts = rightLeader.getMotorOutputVoltage();
     inputs.rightCurrentAmps =
         new double[] {rightLeader.getStatorCurrent(), rightFollower.getStatorCurrent()};
@@ -67,8 +67,8 @@ public void updateInputs(DriveIOInputs inputs) {
   @Override
   public void setVoltage(double leftVolts, double rightVolts) {
     // OK to just divide by 12 because voltage compensation is enabled
-    leftLeader.set(TalonSRXControlMode.PercentOutput, leftVolts / 12.0);
-    rightLeader.set(TalonSRXControlMode.PercentOutput, rightVolts / 12.0);
+    leftLeader.set(TalonSRXControlMode.PercentOutput, leftVolts / VOLTAGE_COMPENSATION);
+    rightLeader.set(TalonSRXControlMode.PercentOutput, rightVolts / VOLTAGE_COMPENSATION);
   }
 
   @Override
@@ -79,15 +79,15 @@ public void setVelocity(
         TalonSRXControlMode.Velocity,
         Units.radiansToRotations(leftRadPerSec)
             * ticksPerRevolution
-            / 10.0, // Raw units are ticks per 100ms :(
+            / SENSOR_VELOCITY_CONVERSION, // Raw units are ticks per 100ms :(
         DemandType.ArbitraryFeedForward,
-        leftFFVolts / 12.0);
+        leftFFVolts / VOLTAGE_COMPENSATION);
     rightLeader.set(
         TalonSRXControlMode.Velocity,
         Units.radiansToRotations(rightRadPerSec)
             * ticksPerRevolution
-            / 10.0, // Raw units are ticks per 100ms :(
+            / SENSOR_VELOCITY_CONVERSION, // Raw units are ticks per 100ms :(
         DemandType.ArbitraryFeedForward,
-        rightFFVolts / 12.0);
+        rightFFVolts / VOLTAGE_COMPENSATION);
   }
 }

src/main/java/frc/robot/Subsystems/Drive/DriveIOSim.java

@@ -34,9 +34,9 @@ public void updateInputs(DriveIOInputs inputs) {
 
     // Update simulation state
     sim.setInputs(
-        MathUtil.clamp(leftAppliedVolts, -12.0, 12.0),
-        MathUtil.clamp(rightAppliedVolts, -12.0, 12.0));
-    sim.update(0.02);
+        MathUtil.clamp(leftAppliedVolts, -VOLTAGE_COMPENSATION, VOLTAGE_COMPENSATION),
+        MathUtil.clamp(rightAppliedVolts, -VOLTAGE_COMPENSATION, VOLTAGE_COMPENSATION));
+    sim.update(SIM_UPDATE_PERIOD_SEC);
 
     inputs.leftPositionRad = sim.getLeftPositionMeters() / WHEEL_RADIUS_METERS;
     inputs.leftVelocityRadPerSec = sim.getLeftVelocityMetersPerSecond() / WHEEL_RADIUS_METERS;

src/main/java/frc/robot/Subsystems/Drive/DriveStates.java

@@ -8,8 +8,8 @@ public enum DriveStates implements SubsystemStates {
         double forward = drive.getController().getLeftY();
         double rotation = drive.getController().getRightX();
         if (drive.isSlowMode()) {
-            forward *= 0.3;
-            rotation *= 0.3;
+            forward *= DriveConstants.SLOW_MODE_MULTIPLIER;
+            rotation *= DriveConstants.SLOW_MODE_MULTIPLIER;
         }
         drive.arcadeDrive(forward, rotation);
 	}),
@@ -18,8 +18,8 @@ public enum DriveStates implements SubsystemStates {
         double left = drive.getController().getLeftY();
         double right = drive.getController().getRightY();
         if (drive.isSlowMode()) {
-            left *= 0.3;
-            right *= 0.3;
+            left *= DriveConstants.SLOW_MODE_MULTIPLIER;
+            right *= DriveConstants.SLOW_MODE_MULTIPLIER;
         }
         drive.tankDrive(left, right);
 	});