Fix redundant and confusing constants

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

@@ -15,7 +15,6 @@
 import frc.robot.constants.ConstDrivetrain;
 import frc.robot.constants.ConstField;
 import frc.robot.subsystems.DriverStateMachine.DriverState;
-import frc.robot.subsystems.Drivetrain;
 
 public class DriveManual extends Command {
   DoubleSupplier xAxis, yAxis, rotationXAxis;

src/main/java/frc/robot/commands/states/EjectingHopper.java

@@ -27,9 +27,9 @@ public EjectingHopper() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/states/ReversingShooter.java

@@ -19,8 +19,8 @@ public ReversingShooter() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED);
-    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED);
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.REVERSING_SHOOTER);
   }
 

src/main/java/frc/robot/commands/states/Shooting.java

@@ -27,7 +27,7 @@ public Shooting() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_ROLLERS_SPEED);
     intakeAgitationTimer.restart();
 
   }

src/main/java/frc/robot/commands/states/preps/PrepCorner.java

@@ -12,7 +12,7 @@
 public class PrepCorner extends BasePrep {
   /** Creates a new PrepNonOutpost. */
   public PrepCorner() {
-    super(ConstRotors.FLYWHEEL_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
+    super(ConstRotors.FLYWHEEL_PREP_CORNER_SPEED, ConstMotion.HOOD_PREP_CORNER_ANGLE, RobotState.PREP_CORNER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }

src/main/java/frc/robot/commands/states/preps/PrepHub.java

@@ -14,7 +14,7 @@ public class PrepHub extends BasePrep {
   /** Creates a new PrepDepot. */
   public PrepHub() {
 
-    super(ConstRotors.FLYWHEEL_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
+    super(ConstRotors.FLYWHEEL_PREP_HUB_SPEED, ConstMotion.HOOD_PREP_HUB_ANGLE, RobotState.PREP_HUB);
 
     // setState
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java

@@ -14,7 +14,7 @@ public class PrepNeutralToAlliance extends BasePrep {
   /** Creates a new PrepNeautralToAlliance. */
   public PrepNeutralToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE,
         RobotState.PREP_NEUTRAL_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java

@@ -13,7 +13,7 @@ public class PrepOpponentToAlliance extends BasePrep {
   /** Creates a new PrepOpponentToAlliance. */
   public PrepOpponentToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE,
         RobotState.PREP_OPPONENT_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/states/preps/PrepTower.java

@@ -12,7 +12,7 @@ public class PrepTower extends BasePrep {
   /** Creates a new PrepOutpost. */
   public PrepTower() {
 
-    super(ConstRotors.FLYWHEEL_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER);
+    super(ConstRotors.FLYWHEEL_PREP_TOWER_SPEED, ConstMotion.HOOD_PREP_TOWER_ANGLE, RobotState.PREP_TOWER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }

src/main/java/frc/robot/commands/states/preps/PrepTrench.java

@@ -12,7 +12,7 @@ public class PrepTrench extends BasePrep {
   /** Creates a new PrepTrench. */
   public PrepTrench() {
 
-    super(ConstRotors.FLYWHEEL_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH);
+    super(ConstRotors.FLYWHEEL_PREP_TRENCH_SPEED, ConstMotion.HOOD_PREP_TRENCH_ANGLE, RobotState.PREP_TRENCH);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }

src/main/java/frc/robot/constants/ConstMotion.java

@@ -29,13 +29,13 @@ public class ConstMotion {
   public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0);
   public static final double STOP = 0;
   public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
-  public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
-  public static final Angle HOOD_CORNER_ANGLE = Units.Degrees.of(23.5);
-  public static final Angle HOOD_TOWER_ANGLE = Units.Degrees.of(14);
-  public static final Angle HOOD_HUB_ANGLE = Units.Degrees.of(9.5);
-  public static final Angle HOOD_ANYWHERE_ANGLE = Units.Degrees.of(45);
-  public static final Angle HOOD_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
-  public static final Angle HOOD_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
+  public static final Angle HOOD_PREP_TRENCH_ANGLE = Units.Degrees.of(13);
+  public static final Angle HOOD_PREP_CORNER_ANGLE = Units.Degrees.of(23.5);
+  public static final Angle HOOD_PREP_TOWER_ANGLE = Units.Degrees.of(14);
+  public static final Angle HOOD_PREP_HUB_ANGLE = Units.Degrees.of(9.5);
+  public static final Angle HOOD_PREP_ANYWHERE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
 
   static {
 

src/main/java/frc/robot/constants/ConstRotors.java

@@ -22,31 +22,27 @@ public class ConstRotors {
 
   public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();
-  public static final AngularVelocity FLYWHEEL_CORNER_SPEED = Units.RPM.of(4250);
-  public static final AngularVelocity FLYWHEEL_HUB_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_TRENCH_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_TOWER_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_ANYWHERE_SPEED = Units.RPM.of(4100);
-  public static final AngularVelocity FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700);
-  public static final AngularVelocity FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400);
+  public static final AngularVelocity FLYWHEEL_PREP_CORNER_SPEED = Units.RPM.of(4250);
+  public static final AngularVelocity FLYWHEEL_PREP_HUB_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_TRENCH_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_TOWER_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_ANYWHERE_SPEED = Units.RPM.of(4100);
+  public static final AngularVelocity FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700);
+  public static final AngularVelocity FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400);
 
   public static final double INTAKE_ROLLERS_SPEED = 1;
   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;
   public static final double STOP = 0;
   public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
   public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);
-  public static final double REVERSE_SHOOTING_SPEED = -1;
-  public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -1;
-  public static final double REVERSE_INTAKE_ROLLERS_SPEED = -1;
-  public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -1;
+  public static final double REVERSE_FLYWHEEL_SPEED = -1;
+  public static final double EJECTING_SERIALIZER_ROLLERS_SPEED = -1;
+  public static final double EJECTING_INTAKE_ROLLERS_EAST_SPEED = -1;
+  public static final double REVERSE_TRANSFER_ROLLERS_EAST_SPEED = -1;
 
   static {
 
-    // SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode =
-    // NeutralModeValue.Coast;/
-
     FLYWHEEL_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
     FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
     FLYWHEEL_WEST_CONFIGURATION.Slot0.kS = 0.14;