Change Literal Values to Constants (#51)

Author: S0L0GUY

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

@@ -9,4 +9,22 @@ public class Constants {
     public static class constDrivetrain {
       public static final double SLOW_MODE_MULTIPLIER = 0.5;
     }
+
+    public static class constIntake {
+      public static final double INTAKE_EJECT_VELOCITY = -0.5;
+      public static final double INTAKE_VELOCITY = 0.5;
+    }
+
+    public static class constHopper {
+      public static final double HOPPER_ORIENTATION_SPEED = 0.5;
+    }
+
+    public static class constShooter {
+      public static final double PROPEL_MOTOR_VELOCITY = 0.6;
+      public static final double SPIRAL_MOTOR_VELOCITY = 0.8;
+    }
+
+    public static class constStager {
+      public static final double STAGER_MOTOR_VELOCITY = 0.3;
+    }
 }

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 
@@ -23,7 +24,7 @@ public EjectGP(Intake subIntake, Hopper subHopper) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    globalIntake.setIntakeVelocity(-0.5);
+    globalIntake.setIntakeVelocity(Constants.constIntake.INTAKE_EJECT_VELOCITY);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Stager;
+import frc.robot.Constants;
 import frc.robot.subsystems.Intake;
 
 public class IntakeGround extends Command {
@@ -32,7 +33,7 @@ public void execute() {
     if (globalStager.getHasGP()) {
       globalIntake.setIntakeVelocity(0);
     } else {
-      globalIntake.setIntakeVelocity(0.5);
+      globalIntake.setIntakeVelocity(Constants.constIntake.INTAKE_VELOCITY);
     }
   }
 

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
 import frc.robot.subsystems.Shooter;
 
 public class PrepShooter extends Command {
@@ -19,8 +20,8 @@ public PrepShooter(Shooter passedShooter) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    globalShooter.setPropelMotorVelocity(0.6);
-    globalShooter.setSpiralMotorVelocity(0.8);
+    globalShooter.setPropelMotorVelocity(Constants.constShooter.PROPEL_MOTOR_VELOCITY);
+    globalShooter.setSpiralMotorVelocity(Constants.constShooter.SPIRAL_MOTOR_VELOCITY);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Stager;
+import frc.robot.Constants;
 import frc.robot.subsystems.Shooter;
 
 public class Shoot extends Command {
@@ -23,8 +24,8 @@ public Shoot(Stager passedStager, Shooter passedShooter) {
   @Override
   public void initialize() {
     // The speed need to change to a real number.
-    if ((globalShooter.getPropelMotorVelocity() >= 0.6) && (globalShooter.getSpiralMotorVelocity() >= 0.8)) {
-      globalStager.setStagerMotorVelocity(0.3);
+    if ((globalShooter.getPropelMotorVelocity() >= Constants.constShooter.PROPEL_MOTOR_VELOCITY) && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
+      globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
     } else {
       globalStager.setStagerMotorVelocity(0);
     }

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Stager;
 
@@ -24,8 +25,7 @@ public intakeHopper(Hopper subHopper, Stager subStager) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-
-    subHopper.setOrientationMotorSpeed(.5);
+    subHopper.setOrientationMotorSpeed(Constants.constHopper.HOPPER_ORIENTATION_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -34,7 +34,7 @@ public void execute() {
     if (subStager.getHasGP()) {
       subHopper.setOrientationMotorNuetralOutput();
     } else {
-      subHopper.setOrientationMotorSpeed(.5);
+      subHopper.setOrientationMotorSpeed(Constants.constHopper.HOPPER_ORIENTATION_SPEED);
     }
 
   }

src/main/java/frc/robot/commands/none.java

@@ -33,7 +33,6 @@ public void initialize() {
     subStager.setStagerMotorVelocity(0);
     subShooter.setSpiralMotorVelocity(0);
     subShooter.setPropelMotorVelocity(0);
-
   }
 
   // Called every time the scheduler runs while the command is scheduled.