cleaning up config values

KHS-Robotics · Jan 30, 2025 · c3bd4e7 · c3bd4e7
1 parent a3d6e73
commit c3bd4e7
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Showing 5 changed files with 37 additions and 54 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -142,27 +142,36 @@ public static final class SwerveDriveConfig {
   }
 
   /**
-   * Configurations for the elevator.
+   * Configurations for the coraller.
    */
-  public static final class ElevatorConfig {
+  public static final class CorallerConfig {
+    // Angler
+    public static final double kAnglerP = 0.0;
+    public static final double kAnglerI = 0.0;
+    public static final double kAnglerD = 0.0;
+    public static final double kAnglerEncoderPositionConversionFactor = 1;
+    public static final double kAnglerEncoderVelocityConversionFactor = kAnglerEncoderPositionConversionFactor / 60.0;
+
+    // Elevator
     public static final double kElevatorP = 0.0;
     public static final double kElevatorI = 0.0;
     public static final double kElevatorD = 0.0;
     public static final double kElevatorEncoderPositionConversionFactor = 1;
-    public static final double kElevatorEncoderVelocityConversionFactor = kElevatorEncoderPositionConversionFactor
-        / 60.0;
+    public static final double kElevatorEncoderVelocityConversionFactor = kElevatorEncoderPositionConversionFactor / 60.0;
     public static final double kRobotElevatorStowHeightInches = 48;
-  }
 
-  /**
-   * Configurations for the coraller.
-   */
-  public static final class CorallerConfig {
-    public static final double kCorallerP = 0.0;
-    public static final double kCorallerI = 0.0;
-    public static final double kCorallerD = 0.0;
-    public static final double kCorallerEncoderPositionConversionFactor = 1;
-    public static final double kCorallerEncoderVelocityConversionFactor = kCorallerEncoderPositionConversionFactor
-        / 60.0;
+    // Coraller Configuration
+    public static final double STOW_ANGLE = 0;
+    public static final double STOW_HEIGHT = 0;
+    public static final double L1_ANGLE = 0;
+    public static final double L1_HEIGHT = 0;
+    public static final double L2_ANGLE = 0;
+    public static final double L2_HEIGHT = 0;
+    public static final double L3_ANGLE = 0;
+    public static final double L3_HEIGHT = 0;
+    public static final double L4_ANGLE = 0;
+    public static final double L4_HEIGHT = 0;
+    public static final double RECEIVE_ANGLE = 0;
+    public static final double RECEIVE_HEIGHT = 0;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/coraller/Angler.java b/src/main/java/frc/robot/subsystems/coraller/Angler.java
@@ -23,7 +23,7 @@ public class Angler {
 
   public Angler() {
     var anglerClosedLoopConfig = new ClosedLoopConfig()
-      .pid(CorallerConfig.kCorallerP, CorallerConfig.kCorallerI, CorallerConfig.kCorallerD,
+      .pid(CorallerConfig.kAnglerP, CorallerConfig.kAnglerI, CorallerConfig.kAnglerD,
           ClosedLoopSlot.kSlot0);
     var anglerConfig = new SparkMaxConfig()
       .idleMode(IdleMode.kBrake)

diff --git a/src/main/java/frc/robot/subsystems/coraller/Coraller.java b/src/main/java/frc/robot/subsystems/coraller/Coraller.java
@@ -3,16 +3,16 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants.ElevatorConfig;
+import frc.robot.Constants.CorallerConfig;
 
 public class Coraller extends SubsystemBase {
   public enum Configuration {
-    STOW(CorallerConstants.STOW_HEIGHT, CorallerConstants.STOW_ANGLE),
-    L1(CorallerConstants.L1_HEIGHT, CorallerConstants.L1_ANGLE),
-    L2(CorallerConstants.L2_HEIGHT, CorallerConstants.L2_ANGLE),
-    L3(CorallerConstants.L3_HEIGHT, CorallerConstants.L3_ANGLE),
-    L4(CorallerConstants.L4_HEIGHT, CorallerConstants.L4_ANGLE),
-    RECEIVE(CorallerConstants.RECEIVE_HEIGHT, CorallerConstants.RECEIVE_ANGLE);
+    STOW(CorallerConfig.STOW_HEIGHT, CorallerConfig.STOW_ANGLE),
+    L1(CorallerConfig.L1_HEIGHT, CorallerConfig.L1_ANGLE),
+    L2(CorallerConfig.L2_HEIGHT, CorallerConfig.L2_ANGLE),
+    L3(CorallerConfig.L3_HEIGHT, CorallerConfig.L3_ANGLE),
+    L4(CorallerConfig.L4_HEIGHT, CorallerConfig.L4_ANGLE),
+    RECEIVE(CorallerConfig.RECEIVE_HEIGHT, CorallerConfig.RECEIVE_ANGLE);
 
     private final double elevatorPosition;
     private final double anglerPosition;
@@ -28,7 +28,7 @@ private Configuration(double elevatorPosition, double anglerPosition) {
   private final Intake intake;
 
   public Coraller() {
-    elevator = new Elevator(ElevatorConfig.kRobotElevatorStowHeightInches);
+    elevator = new Elevator(CorallerConfig.kRobotElevatorStowHeightInches);
     angler = new Angler();
     intake = new Intake();
   }

diff --git a/src/main/java/frc/robot/subsystems/coraller/CorallerConstants.java b/src/main/java/frc/robot/subsystems/coraller/CorallerConstants.java
diff --git a/src/main/java/frc/robot/subsystems/coraller/Elevator.java b/src/main/java/frc/robot/subsystems/coraller/Elevator.java
@@ -13,7 +13,7 @@
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 import frc.robot.RobotMap;
-import frc.robot.Constants.ElevatorConfig;
+import frc.robot.Constants.CorallerConfig;
 
 public class Elevator {
   private final SparkMax motor;
@@ -25,10 +25,10 @@ public class Elevator {
 
   public Elevator(double base) {
     var elevatorEncoderConfig = new EncoderConfig()
-        .positionConversionFactor(ElevatorConfig.kElevatorEncoderPositionConversionFactor)
-        .velocityConversionFactor(ElevatorConfig.kElevatorEncoderVelocityConversionFactor);
+        .positionConversionFactor(CorallerConfig.kElevatorEncoderPositionConversionFactor)
+        .velocityConversionFactor(CorallerConfig.kElevatorEncoderVelocityConversionFactor);
     var elevatorClosedLoopConfig = new ClosedLoopConfig()
-        .pid(ElevatorConfig.kElevatorP, ElevatorConfig.kElevatorI, ElevatorConfig.kElevatorD, ClosedLoopSlot.kSlot0);
+        .pid(CorallerConfig.kElevatorP, CorallerConfig.kElevatorI, CorallerConfig.kElevatorD, ClosedLoopSlot.kSlot0);
     var elevatorConfig = new SparkMaxConfig()
         .idleMode(IdleMode.kBrake)
         .smartCurrentLimit(45)