Fix redundant and confusing constants - #60
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AngelaKimmy
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Jun 13, 2026
TaylerUva
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Jun 13, 2026
| public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000); | ||
| // public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000); | ||
| public static final double SERIALIZER_SHOOTING_SPEED = 1; | ||
| public static final double SERIALIZER_ROLLERS_SPEED = 1; |
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Pull request overview
This PR refactors shooter/hood “prep” and roller direction constants to reduce redundancy/confusion and updates command call sites to use the renamed constants.
Changes:
- Rename flywheel and hood preset constants to use a
*_PREP_*naming scheme and update all prep commands accordingly. - Rename/reshape several roller percent-output constants (serializer + reverse/eject) and update affected state commands.
- Remove some commented-out / redundant constant definitions in the rotors constants file.
Reviewed changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/main/java/frc/robot/constants/ConstRotors.java | Renames flywheel preset constants and roller percent-output constants used by state commands. |
| src/main/java/frc/robot/constants/ConstMotion.java | Renames hood preset angles to HOOD_PREP_* variants. |
| src/main/java/frc/robot/commands/states/Shooting.java | Updates serializer rollers percent-output constant reference. |
| src/main/java/frc/robot/commands/states/ReversingShooter.java | Updates reverse percent-output constant reference for shooter reversal. |
| src/main/java/frc/robot/commands/states/preps/PrepTrench.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/preps/PrepTower.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/preps/PrepHub.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/preps/PrepCorner.java | Updates BasePrep call to new FLYWHEEL_PREP_* / HOOD_PREP_* constants. |
| src/main/java/frc/robot/commands/states/EjectingHopper.java | Updates ejection roller constant references (but current mapping appears inconsistent with names). |
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| RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED); | ||
| RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED); | ||
| RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED); | ||
| RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_SPEED); |
| public void initialize() { | ||
| RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED); | ||
| RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED); | ||
| RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTER_SPEED); |
Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com>
AngelaKimmy
reviewed
Jun 13, 2026
Comment on lines
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+32
| RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED); | ||
| RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED); |
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These constants should be swapped
serializer function should get serializer const
transfer function should get transfer const
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