Refactor constants to UPPER_SNAKE_CASE and misc cleanup

.gitattributes

@@ -0,0 +1,11 @@
+# Enforce LF line endings for all text files
+* text=auto eol=lf
+
+# Explicitly binary files
+*.png binary
+*.jpg binary
+*.gif binary
+*.ico binary
+*.jar binary
+*.whl binary
+*.glb binary

.vscode/settings.json

@@ -71,5 +71,5 @@
   "[java]": {
     "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
   },
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx32G -Xms100m -Xlog:disable"
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx64G -Xms100m -Xlog:disable"
 }

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

@@ -13,10 +13,7 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.*;
-
 import com.ctre.phoenix6.CANBus;
-import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
@@ -44,105 +41,100 @@ public static final class FeatureFlags {
     public static final boolean PROFILING_ENABLED = false;
 
     /** Set to false to disable the hopper subsystem entirely. */
-    public static final boolean kHopperEnabled = false;
+    public static final boolean HOPPER_ENABLED = false;
   }
 
   public final class RobotConstants {
-    public static final double kNominalVoltage = 12.0;
+    public static final double NOMINAL_VOLTAGE = 12.0;
   }
 
   public static final class MotorConstants {
     public static final class NEOConstants {
-      public static final AngularVelocity kFreeSpeed = RPM.of(5676);
-      public static final int kDefaultSupplyCurrentLimit = 60;
-      public static final int kDefaultStatorCurrentLimit = 100;
+      public static final int DEFAULT_SUPPLY_CURRENT_LIMIT = 40;
+      public static final int DEFAULT_STATOR_CURRENT_LIMIT = 60;
     }
 
     public static final class NEO550Constants {
-      public static final AngularVelocity kFreeSpeed = RPM.of(11000);
-      public static final int kDefaultSupplyCurrentLimit = 10;
+      public static final int DEFAULT_SUPPLY_CURRENT_LIMIT = 5;
+      public static final int DEFAULT_STATOR_CURRENT_LIMIT = 10;
     }
 
     public static final class NEOVortexConstants {
-      public static final AngularVelocity kFreeSpeed = RPM.of(6784);
-      public static final int kDefaultSupplyCurrentLimit = 60;
-      public static final int kDefaultStatorCurrentLimit = 100;
+      public static final int DEFAULT_SUPPLY_CURRENT_LIMIT = 60;
+      public static final int DEFAULT_STATOR_CURRENT_LIMIT = 100;
     }
 
     public static final class KrakenX60Constants {
-      public static final AngularVelocity kFreeSpeed = RPM.of(6000);
-      public static final int kDefaultSupplyCurrentLimit = 60;
-      public static final int kDefaultStatorCurrentLimit = 100;
+      public static final int DEFAULT_SUPPLY_CURRENT_LIMIT = 60;
+      public static final int DEFAULT_STATOR_CURRENT_LIMIT = 100;
     }
   }
 
   public static final class DIOPorts {
     // max length is 8
-    public static final int[] autonomousModeSelector = {0, 1, 2};
-
-    public static final int allianceColorSelector = 3;
+    public static final int[] AUTONOMOUS_MODE_SELECTOR = {0, 1, 2};
 
-    public static final int turretAbsEncoder = 4;
-  }
+    public static final int ALLIANCE_COLOR_SELECTOR = 3;
 
-  public static final class OIPorts {
-    public static final int defaultDriver = 0;
-    public static final int defaultOperator = 1;
+    public static final int TURRET_ABS_ENCODER = 4;
   }
 
   public static final class CANBusPorts {
 
     public static final class CAN2 {
-      public static final CANBus bus = CANBus.roboRIO();
+      public static final CANBus BUS = CANBus.roboRIO();
+
+      // Power distribution
+      public static final int PD = 1;
 
       // Drivetrain
-      public static final int gyro = 0;
+      public static final int GYRO = 0;
 
       // Launcher
-      public static final int turret = 12;
-      public static final int hood = 13;
-      public static final int flywheelLeader = 14;
-      public static final int flywheelFollower = 15;
+      public static final int TURRET = 12;
+      public static final int HOOD = 13;
+      public static final int FLYWHEEL_LEADER = 14;
+      public static final int FLYWHEEL_FOLLOWER = 15;
 
       // Feeder
-      public static final int spindexer = 16;
-      public static final int kicker = 17;
+      public static final int SPINDEXER = 16;
+      public static final int KICKER = 17;
 
       // Intake
-      public static final int intakeRollerLower = 22;
-      public static final int intakeRollerUpper = 23;
+      public static final int INTAKE_ROLLER_LOWER = 22;
+      public static final int INTAKE_ROLLER_UPPER = 23;
     }
 
     public static final class CANHD {
       // CAN bus that the devices are located on;
       // All swerve devices must share the same CAN bus
-      public static final CANBus bus = new CANBus("canivore");
+      public static final CANBus BUS = new CANBus("canivore");
 
       // Drivetrain
-      public static final int backLeftDrive = 10;
-      public static final int backRightDrive = 18;
-      public static final int frontRightDrive = 20;
-      public static final int frontLeftDrive = 28;
-
-      public static final int backLeftTurn = 11;
-      public static final int backRightTurn = 19;
-      public static final int frontRightTurn = 21;
-      public static final int frontLeftTurn = 29;
-
-      public static final int backRightTurnAbsEncoder = 31;
-      public static final int frontRightTurnAbsEncoder = 33;
-      public static final int frontLeftTurnAbsEncoder = 43;
-      public static final int backLeftTurnAbsEncoder = 45;
+      public static final int BACK_LEFT_DRIVE = 10;
+      public static final int BACK_RIGHT_DRIVE = 18;
+      public static final int FRONT_RIGHT_DRIVE = 20;
+      public static final int FRONT_LEFT_DRIVE = 28;
+
+      public static final int BACK_LEFT_TURN = 11;
+      public static final int BACK_RIGHT_TURN = 19;
+      public static final int FRONT_RIGHT_TURN = 21;
+      public static final int FRONT_LEFT_TURN = 29;
+
+      public static final int BACK_RIGHT_TURN_ABS_ENC = 31;
+      public static final int FRONT_RIGHT_TURN_ABS_ENC = 33;
+      public static final int FRONT_LEFT_TURN_ABS_ENC = 43;
+      public static final int BACK_LEFT_TURN_ABS_ENC = 45;
     }
   }
 
   public static final class PneumaticChannels {
     // hopper
-    public static final int hopperForward = 14;
-    public static final int hopperReverse = 15;
+    public static final int HOPPER_FWD = 14;
+    public static final int HOPPER_REV = 15;
 
     // intake arm
-    public static final int intakeArmForward = 0;
-    public static final int intakeArmReverse = 1;
+    public static final int INTAKE_ARM_FWD = 0;
+    public static final int INTAKE_ARM_REV = 1;
   }
 }

src/main/java/frc/robot/Robot.java

@@ -36,6 +36,7 @@
 import frc.lib.LoggedCompressor;
 import frc.lib.LoggedPowerDistribution;
 import frc.lib.ZorroController.Axis;
+import frc.robot.Constants.CANBusPorts.CAN2;
 import frc.robot.Constants.DIOPorts;
 import frc.robot.Constants.FeatureFlags;
 import frc.robot.auto.B_LeftTrenchAuto;
@@ -122,11 +123,11 @@ public class Robot extends LoggedRobot {
   }
 
   public static final AllianceSelector allianceSelector =
-      new AllianceSelector(DIOPorts.allianceColorSelector);
+      new AllianceSelector(DIOPorts.ALLIANCE_COLOR_SELECTOR);
   public static final AutoSelector autoSelector =
-      new AutoSelector(DIOPorts.autonomousModeSelector, allianceSelector::getAllianceColor);
+      new AutoSelector(DIOPorts.AUTONOMOUS_MODE_SELECTOR, allianceSelector::getAllianceColor);
   public final LoggedPowerDistribution powerDistribution =
-      new LoggedPowerDistribution(1, ModuleType.kRev, "PDH");
+      new LoggedPowerDistribution(CAN2.PD, ModuleType.kRev, "PD");
 
   private final java.util.Set<String> activeCommands = new java.util.LinkedHashSet<>();
 
@@ -176,30 +177,30 @@ public Robot() {
         drive =
             new Drive(
                 new GyroIOBoron(),
-                new ModuleIOTalonFX(DriveConstants.FrontLeft),
-                new ModuleIOTalonFX(DriveConstants.FrontRight),
-                new ModuleIOTalonFX(DriveConstants.BackLeft),
-                new ModuleIOTalonFX(DriveConstants.BackRight));
+                new ModuleIOTalonFX(DriveConstants.FRONT_LEFT),
+                new ModuleIOTalonFX(DriveConstants.FRONT_RIGHT),
+                new ModuleIOTalonFX(DriveConstants.BACK_LEFT),
+                new ModuleIOTalonFX(DriveConstants.BACK_RIGHT));
         vision =
             new Vision(
                 drive::addVisionMeasurement,
                 drive::getFieldRelativeHeading,
-                new VisionIOPhotonVision(cameraFrontRightName, robotToFrontRightCamera),
-                new VisionIOPhotonVision(cameraFrontLeftName, robotToFrontLeftCamera),
-                new VisionIOPhotonVision(cameraBackRightName, robotToBackRightCamera),
-                new VisionIOPhotonVision(cameraBackLeftName, robotToBackLeftCamera));
+                new VisionIOPhotonVision(FRONT_RIGHT_CAMERA),
+                new VisionIOPhotonVision(FRONT_LEFT_CAMERA),
+                new VisionIOPhotonVision(BACK_RIGHT_CAMERA),
+                new VisionIOPhotonVision(BACK_LEFT_CAMERA));
         launcher =
             new Launcher(
                 drive::getPose,
                 drive::getRobotRelativeChassisSpeeds,
                 new TurretIOSpark(),
                 new FlywheelIOTalonFX(),
                 new HoodIOSpark());
-        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIOReal());
+        if (FeatureFlags.HOPPER_ENABLED) hopper = new Hopper(new HopperIOReal());
         intake =
             new Intake(
-                new RollerIOSpark(RollerConstants.upperRollerConfig),
-                new RollerIOSpark(RollerConstants.lowerRollerConfig),
+                new RollerIOSpark(RollerConstants.UPPER_ROLLER_CONFIG),
+                new RollerIOSpark(RollerConstants.LOWER_ROLLER_CONFIG),
                 new IntakeArmIOReal());
         feeder = new Feeder(new SpindexerIOSpark(), new KickerIOSpark());
         compressor = new LoggedCompressor(PneumaticsModuleType.REVPH, "Compressor");
@@ -217,22 +218,18 @@ public Robot() {
         drive =
             new Drive(
                 new GyroIO() {},
-                new ModuleIOSimWPI(DriveConstants.FrontLeft),
-                new ModuleIOSimWPI(DriveConstants.FrontRight),
-                new ModuleIOSimWPI(DriveConstants.BackLeft),
-                new ModuleIOSimWPI(DriveConstants.BackRight));
+                new ModuleIOSimWPI(DriveConstants.FRONT_LEFT),
+                new ModuleIOSimWPI(DriveConstants.FRONT_RIGHT),
+                new ModuleIOSimWPI(DriveConstants.BACK_LEFT),
+                new ModuleIOSimWPI(DriveConstants.BACK_RIGHT));
         vision =
             new Vision(
                 drive::addVisionMeasurement,
                 drive::getFieldRelativeHeading,
-                new VisionIOPhotonVisionSim(
-                    cameraFrontRightName, robotToFrontRightCamera, drive::getPose),
-                new VisionIOPhotonVisionSim(
-                    cameraFrontLeftName, robotToFrontLeftCamera, drive::getPose),
-                new VisionIOPhotonVisionSim(
-                    cameraBackRightName, robotToBackRightCamera, drive::getPose),
-                new VisionIOPhotonVisionSim(
-                    cameraBackLeftName, robotToBackLeftCamera, drive::getPose));
+                new VisionIOPhotonVisionSim(FRONT_RIGHT_CAMERA, drive::getPose),
+                new VisionIOPhotonVisionSim(FRONT_LEFT_CAMERA, drive::getPose),
+                new VisionIOPhotonVisionSim(BACK_RIGHT_CAMERA, drive::getPose),
+                new VisionIOPhotonVisionSim(BACK_LEFT_CAMERA, drive::getPose));
         launcher =
             new Launcher(
                 drive::getPose,
@@ -241,12 +238,12 @@ public Robot() {
                 new FlywheelIOSimTalonFX(),
                 new HoodIOSimSpark());
         feeder = new Feeder(new SpindexerIOSimSpark(), new KickerIOSimSpark());
-        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIOSim());
+        if (FeatureFlags.HOPPER_ENABLED) hopper = new Hopper(new HopperIOSim());
         var intakeArmIOSim = new IntakeArmIOSim();
         intake =
             new Intake(
-                new RollerIOSimSpark(RollerConstants.upperRollerConfig),
-                new RollerIOSimSpark(RollerConstants.lowerRollerConfig),
+                new RollerIOSimSpark(RollerConstants.UPPER_ROLLER_CONFIG),
+                new RollerIOSimSpark(RollerConstants.LOWER_ROLLER_CONFIG),
                 intakeArmIOSim);
         pneumaticsSimulator =
             new PneumaticsSimulator(intakeArmIOSim.intakeArmPneumatic, new REVPHSim(1));
@@ -283,7 +280,7 @@ public Robot() {
                 new TurretIO() {},
                 new FlywheelIO() {},
                 new HoodIO() {});
-        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIO() {});
+        if (FeatureFlags.HOPPER_ENABLED) hopper = new Hopper(new HopperIO() {});
         intake = new Intake(new RollerIO() {}, new RollerIO() {}, new IntakeArmIO() {});
         feeder = new Feeder(new SpindexerIO() {}, new KickerIO() {});
         break;
@@ -302,13 +299,13 @@ public Robot() {
 
     // Wire the hopper/intake interlocks. Done here (after both subsystems exist) to avoid a
     // circular dependency between the two subsystems.
-    if (FeatureFlags.kHopperEnabled) {
+    if (FeatureFlags.HOPPER_ENABLED) {
       intake.setDeployInterlock(
           hopper::isDeployed,
-          () -> hopper.getDeployCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
+          () -> hopper.getDeployCommand().withTimeout(IntakeConstants.INTERLOCK_SETTLE_SECONDS));
       hopper.setRetractInterlock(
           intake::isStowed,
-          () -> intake.getStopCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
+          () -> intake.getStopCommand().withTimeout(IntakeConstants.INTERLOCK_SETTLE_SECONDS));
     }
 
     configureControlPanelBindings();
@@ -352,8 +349,8 @@ public void robotPeriodic() {
     CommandScheduler.getInstance().run();
     long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
-    logCANBus("CAN2", Constants.CANBusPorts.CAN2.bus);
-    logCANBus("CANHD", Constants.CANBusPorts.CANHD.bus);
+    logCANBus("CAN2", Constants.CANBusPorts.CAN2.BUS);
+    logCANBus("CANHD", Constants.CANBusPorts.CANHD.BUS);
     powerDistribution.log();
     if (compressor != null) compressor.log();
     logHIDs();
@@ -548,7 +545,7 @@ public boolean getFieldRelativeInput() {
     // Toggle hopper: deploy if stowed, stow if deployed (retracting intake first if needed).
     // runOnce has no subsystem requirements so it always executes; the scheduled command
     // requires hopper and will interrupt whatever is currently running on that subsystem.
-    if (FeatureFlags.kHopperEnabled)
+    if (FeatureFlags.HOPPER_ENABLED)
       zorroDriver
           .DIn()
           .onTrue(

src/main/java/frc/robot/commands/DriveCommands.java

@@ -486,18 +486,18 @@ public static Command wheelRadiusCharacterization(Drive drive) {
                         return;
                       }
 
-                      double wheelRadius =
-                          (state.gyroDelta * driveBaseRadius.in(Meters)) / wheelDelta;
+                      double WHEEL_RADIUS =
+                          (state.gyroDelta * DRIVE_BASE_RADIUS.in(Meters)) / wheelDelta;
 
                       System.out.println(
                           "\tWheel Delta: " + formatter.format(wheelDelta) + " radians");
                       System.out.println(
                           "\tGyro Delta: " + formatter.format(state.gyroDelta) + " radians");
                       System.out.println(
                           "\tWheel Radius: "
-                              + formatter.format(wheelRadius)
+                              + formatter.format(WHEEL_RADIUS)
                               + " meters, "
-                              + formatter.format(Units.metersToInches(wheelRadius))
+                              + formatter.format(Units.metersToInches(WHEEL_RADIUS))
                               + " inches");
                     })));
   }

src/main/java/frc/robot/commands/PathCommands.java

@@ -157,7 +157,7 @@ private static PathPlannerPath createPath(List<Waypoint> waypoints, Rotation2d e
     var path =
         new PathPlannerPath(
             waypoints,
-            pathFollowingConstraints,
+            PATH_FOLLOWING_CONSTRAINTS,
             // The ideal starting state, this is only relevant for pre-planned paths,
             // so can be null for on-the-fly paths.
             null,