fix me fixes

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

@@ -1,8 +1,6 @@
 package frc.robot;
 
 import com.pathplanner.lib.util.PIDConstants;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.util.Units;
 import swervelib.math.SwerveMath;
 
@@ -102,18 +100,7 @@ public static final class IOConstants {
  public static final double DEADBAND = 0.3;
  }
 
- public static final class VisionConstants {
- public static final double CAMERA_HEIGHT = 0.0;
- public static final double APRILTAG_RED_SHOOTER_HEIGHT = 0.0;
- public static final double CAMERA_PITCH = 0.0;
- public static final String CAMERA_NAME = "photonvision";
-
- public static final AprilTagFieldLayout APRIL_TAG_FIELD_LAYOUT =
- AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
- }
-
  public static final class TrapConstants {
- // FIXME: should say ID instead of PORT because it's a CAN ID
- public static final int VICTOR_MOTOR_PORT = 0;
+ public static final int VICTOR_MOTOR_ID = 0;
  }
-}
+}

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

@@ -6,9 +6,8 @@
 
 public class ArmCommand extends Command {
 
- // FIXME: both member variables should be private and final (if possible)
- private ArmSubsystem armSubsystem;
- private double armSetpoint;
+ private final ArmSubsystem armSubsystem;
+ private final double armSetpoint;
 
  public ArmCommand(ArmSubsystem armSubsystem, double armSetpoint) {
  this.armSetpoint = armSetpoint;

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

@@ -5,9 +5,8 @@
 
 public class ClimbCommand extends Command {
 
- // FIXME: both member variables should be private and final (if possible)
- private ClimbSubsystem climbSubsystem;
- private double climbSpeed;
+ private final ClimbSubsystem climbSubsystem;
+ private final double climbSpeed;
 
  public ClimbCommand(ClimbSubsystem climbSubsystem, double climbSpeed) {
  this.climbSpeed = climbSpeed;
@@ -18,25 +17,20 @@ public ClimbCommand(ClimbSubsystem climbSubsystem, double climbSpeed) {
 
  @Override
  public void execute() {
- climbSubsystem.setMotorSpeed(climbSpeed);
+ climbSubsystem.setSpeed(climbSpeed);
  boolean rightBottom = climbSubsystem.getRightBottomlimit();
  boolean leftBottom = climbSubsystem.getRightBottomlimit();
  boolean rightTop = climbSubsystem.getRightBottomlimit();
  boolean leftTop = climbSubsystem.getRightBottomlimit();
-
- // FIXME: This is an infinate loop in an infinite loop, which is not good.
- while (climbSpeed != 0) {
-
- // FIXME: these are assignments, not comparisons. Use == instead of =
- if (rightBottom = true) {
- climbSubsystem.setMotorSpeed(0);
- } else if (leftBottom = true) {
- climbSubsystem.setMotorSpeed(0);
- } else if (rightTop = true) {
- climbSubsystem.setMotorSpeed(0);
- } else if (leftTop = true) {
- climbSubsystem.setMotorSpeed(0);
+
+ if (rightBottom == true && climbSpeed != 0) {
+ climbSubsystem.setSpeed(0);
+ } else if (leftBottom == true && climbSpeed != 0) {
+ climbSubsystem.setSpeed(0);
+ } else if (rightTop == true && climbSpeed != 0) {
+ climbSubsystem.setSpeed(0);
+ } else if (leftTop == true && climbSpeed != 0) {
+ climbSubsystem.setSpeed(0);
  }
  }
  }
-}

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

@@ -5,9 +5,8 @@
 
 public class IntakeCommand extends Command {
 
- // FIXME: both member variables should be private and final (if possible)
- private IntakeSubsystem intakeSubsystem;
- private double intakeSpeed;
+ private final IntakeSubsystem intakeSubsystem;
+ private final double intakeSpeed;
 
  public IntakeCommand(IntakeSubsystem intakeSubsystem, double intakeSpeed) {
  this.intakeSpeed = intakeSpeed;
@@ -20,16 +19,14 @@ public void execute() {
  intakeSubsystem.setSpeed(intakeSpeed);
  boolean beam = intakeSubsystem.getBeamBreak();
 
- // FIXME: this is an assignment, not a comparison. Use == instead of =
- if (beam = true) {
+ if (beam == true) {
  intakeSubsystem.setSpeed(0);
  }
  }
 
  @Override
  public void end(boolean interrupted) {
- // FIXME: use stop() instead of setSpeed(0) because it's more clear
- intakeSubsystem.setSpeed(0);
+ intakeSubsystem.stop();
  }
 
  /* @Override

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

@@ -5,9 +5,8 @@
 
 public class ManualCommand extends Command {
 
- // FIXME: both member variables should be private and final (if possible)
- private ArmSubsystem armSubsystem;
- private double armSpeed;
+ private final ArmSubsystem armSubsystem;
+ private final double armSpeed;
 
  public ManualCommand(ArmSubsystem armSubsystem, double armSpeed) {
  this.armSpeed = armSpeed;
@@ -23,7 +22,6 @@ public void execute() {
 
  @Override
  public void end(boolean interrupted) {
- // FIXME: use stop() instead of setSpeed(0) because it's more clear
- armSubsystem.setSpeed(0);
+ armSubsystem.stop();
  }
 }

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

@@ -4,9 +4,9 @@
 import frc.robot.subsystems.ShooterSubsystem;
 
 public class ShooterCommand extends Command {
- // FIXME: both member variables should be private and final (if possible)
- private ShooterSubsystem shooterSubsystem;
- private double shooterSpeed;
+
+ private final ShooterSubsystem shooterSubsystem;
+ private final double shooterSpeed;
 
  public ShooterCommand(ShooterSubsystem shooterSubsystem, double shooterSpeed) {
  this.shooterSpeed = shooterSpeed;
@@ -17,12 +17,11 @@ public ShooterCommand(ShooterSubsystem shooterSubsystem, double shooterSpeed) {
 
  @Override
  public void execute() {
- shooterSubsystem.setBothSpeed(shooterSpeed);
+ shooterSubsystem.setSpeed(shooterSpeed);
  }
 
  @Override
  public void end(boolean interupted) {
- // FIXME: should use stop() instead of setBothSpeed(0) because it's more clear
- shooterSubsystem.setBothSpeed(0);
+ shooterSubsystem.stop();
  }
 }

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

@@ -5,24 +5,22 @@
 
 public class TrapCommand extends Command {
 
- // FIXME: both member variables should be private and final (if possible)
- TrapSubsystem trapsubsystem;
+ private final TrapSubsystem trapsubsystem;
 
- // FIXME: this name is not descriptive, would recommend using something like "trapSpeed"
- double trap;
+ private final double trapSpeed;
 
  public TrapCommand(TrapSubsystem trapSubsystem, double trap) {
- this.trap = trap;
+ this.trapSpeed = trap;
  this.trapsubsystem = trapSubsystem;
 
  addRequirements(trapSubsystem);
  }
 
  public void execute() {
- trapsubsystem.motorOn(trap);
+ trapsubsystem.setSpeed(trapSpeed);
  }
 
  public void end() {
- trapsubsystem.motorOff();
+ trapsubsystem.stop();
  }
 }

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

@@ -8,10 +8,9 @@
 
 public class ClimbSubsystem extends SubsystemBase {
 
- // FIXME: all should be private
- CANSparkMax leftMotor =
+ private CANSparkMax leftMotor =
  new CANSparkMax(Constants.ClimbConstants.LEFT_MOTOR_ID, MotorType.kBrushless);
- CANSparkMax rightMotor =
+ private CANSparkMax rightMotor =
  new CANSparkMax(Constants.ClimbConstants.RIGHT_MOTOR_ID, MotorType.kBrushless);
 
  DigitalInput leftBottom = new DigitalInput(Constants.ClimbConstants.LEFT_BOTTOM_LS);
@@ -20,8 +19,7 @@ public class ClimbSubsystem extends SubsystemBase {
  DigitalInput leftTop = new DigitalInput(Constants.ClimbConstants.LEFT_TOP_LS);
  DigitalInput rightTop = new DigitalInput(Constants.ClimbConstants.RIGHT_TOP_LS);
 
- // FIXME: rename to setSpeed() to keep consistent with other subsystems
- public void setMotorSpeed(double motorSpeed) {
+ public void setSpeed(double motorSpeed) {
  leftMotor.set(motorSpeed);
  rightMotor.set(motorSpeed);
  }

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

@@ -8,9 +8,8 @@
 
 public class IntakeSubsystem extends SubsystemBase {
 
- // FIXME: should be private
- CANSparkMax motor = new CANSparkMax(Constants.IntakeConstants.MOTOR_ID, MotorType.kBrushless);
- DigitalInput beam = new DigitalInput(Constants.IntakeConstants.BEAM_BREAK_PORT);
+ private CANSparkMax motor = new CANSparkMax(Constants.IntakeConstants.MOTOR_ID, MotorType.kBrushless);
+ private DigitalInput beam = new DigitalInput(Constants.IntakeConstants.BEAM_BREAK_PORT);
 
  public void setSpeed(double motorSpeed) {
  motor.set(motorSpeed);
@@ -23,7 +22,4 @@ public void stop() {
  public boolean getBeamBreak() {
  return beam.get();
  }
-
- // FIXME: doesn't need to be defined if its empty
- public IntakeSubsystem() {}
 }

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

@@ -24,9 +24,12 @@ public void setTopSpeed(double topSpeed) {
  topMotor.set(topSpeed);
  }
 
- // FIXME: doesn't set both speeds?
- // FIXME: rename to setSpeed() to keep consistent with other subsystems
- public void setBothSpeed(double motorSpeed) {
+ public void setSpeed(double motorSpeed) {
  topMotor.set(motorSpeed);
  }
+
+ public void stop() {
+ topMotor.set(0);
+ bottomMotor.set(0);
+ }
 }

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

@@ -1,24 +1,20 @@
 package frc.robot.subsystems;
 
-import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.VictorSPX;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class TrapSubsystem extends SubsystemBase {
 
- /**
- * FIXME: should be private, should be a {@link com.ctre.phoenix.motorcontrol.can.VictorSPX} not
- * a {@link edu.wpi.first.wpilibj.motorcontrol.VictorSP}
- */
- VictorSP victor = new VictorSP(Constants.TrapConstants.VICTOR_MOTOR_PORT);
+ VictorSPX victor = new VictorSPX(Constants.TrapConstants.VICTOR_MOTOR_ID);
 
- // FIXME: rename to setSpeed() to keep consistent with other subsystems
- public void motorOn(double victorSpeed) {
- victor.set(victorSpeed);
+
+ public void setSpeed(double victorSpeed) {
+ victor.set(ControlMode.PercentOutput, victorSpeed);
  }
 
- // FIXME: remane to stop() to keep consistent with other subsystems
- public void motorOff() {
- victor.set(0);
+ public void stop() {
+ victor.set(ControlMode.PercentOutput, 0);
  }
 }