Add TODOs and 25 X 25 & 29 X 29 frames (｡･∀･)ﾉﾞ (#26)

* Add TODOs and 25 X 25 & 29 X 29 frames

* Update Constants.java

Author: Wu-Fan-529

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

@@ -52,6 +52,8 @@ public static class constDrivetrain {
 
     // In Rotations: Obtain by aligning all of the wheels in the correct direction
     // and copy-pasting the Raw Absolute Encoder value
+
+    // TODO: Swoffsets
     public static final double FRONT_LEFT_ABS_ENCODER_OFFSET = 0.417236;
     public static final double FRONT_RIGHT_ABS_ENCODER_OFFSET = -0.254395;
     public static final double BACK_LEFT_ABS_ENCODER_OFFSET = 0.258789;
@@ -74,11 +76,20 @@ public static class constDrivetrain {
      */
     public static final LinearVelocity REAL_DRIVE_SPEED = Units.FeetPerSecond.of(15.1);
     // Physically measured from center to center of the wheels
+    // Distance between Left & Right Wheels for 25 by 25 frame
+    public static final double TRACK_WIDTH_25 = Units.Meters.convertFrom(19.75, Units.Inches);
+    // Distance between Front & Back Wheels for 25 by 25 frame
+    public static final double WHEELBASE_25 = Units.Meters.convertFrom(19.75, Units.Inches);
+
+    // Distance between Left & Right Wheels for 29 by 29 frame
+    public static final double TRACK_WIDTH_29 = Units.Meters.convertFrom(23.75, Units.Inches);
+    // Distance between Front & Back Wheels for 29 by 29 frame
+    public static final double WHEELBASE_29 = Units.Meters.convertFrom(23.75, Units.Inches);
+
     // Distance between Left & Right Wheels
-    public static final double TRACK_WIDTH = Units.Meters.convertFrom(23.75, Units.Inches);
+    public static final double TRACK_WIDTH = TRACK_WIDTH_29; // TODO: Replace with actual measurement
     // Distance between Front & Back Wheels
-    public static final double WHEELBASE = Units.Meters.convertFrom(23.75, Units.Inches);
-
+    public static final double WHEELBASE = WHEELBASE_29; // TODO: Replace with actual measurement
     // -- Pose Estimation --
     /**
      * <p>
@@ -112,6 +123,7 @@ public static class constDrivetrain {
     // -- Motor Configurations --
     static {
       // This PID is implemented on each module, not the Drivetrain subsystem.
+      // TODO: PID
       DRIVE_CONFIG.Slot0.kP = 0.18;
       DRIVE_CONFIG.Slot0.kI = 0.0;
       DRIVE_CONFIG.Slot0.kD = 0.0;
@@ -139,6 +151,7 @@ public static class constDrivetrain {
 
     public static class AUTO {
       // This PID is implemented on the Drivetrain subsystem
+      // TODO: AUTO PID
       public static final PIDConstants AUTO_DRIVE_PID = new PIDConstants(9, 0.0, 0.0);
 
       public static final PIDConstants AUTO_STEER_PID = new PIDConstants(5.6, 0.0, 0.0);

src/main/java/frc/robot/subsystems/StateMachine.java

@@ -58,10 +58,12 @@ public Command tryState(RobotState desiredState) {
 
   public enum DriverState {
     MANUAL
+    // TODO: Add other driver states as needed
   }
 
   public enum RobotState {
     NONE
+    // TODO: Add other robot states as needed
   }
 
   @Override