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Added all neccessary TODOS in each file #108

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Merged
TaylerUva merged 5 commits into from
Jul 18, 2026
Merged

Added all neccessary TODOS in each file #108

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f4a72be
Added all neccessary TODOS in each file
FRCTeam3255-Shared-K1-10 Jul 18, 2026
5f6d500
changed name to serial number
FRCTeam3255-Shared-K1-10 Jul 18, 2026
78baeaf
quick fixxed variable
FRCTeam3255-Shared-K1-10 Jul 18, 2026
e987bb5
Merge branch 'main' into Make-Proper-and-Valid-TODOS
FRCTeam3255-Shared-K1-10 Jul 18, 2026
a03f8e4
qf
Wu-Fan-529 Jul 18, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,6 @@ public Command addVisionMeasurement() {
}

public static boolean isPracticeBot() {
return RobotController.getSerialNumber().equals(ConstSystem.PRACTICE_BOT_RIO);
return RobotController.getSerialNumber().equals(ConstSystem.PRACTICE_BOT_RIO_SERIAL_NUMBER);
}
}
6 changes: 6 additions & 0 deletions src/main/java/frc/robot/constants/ConstDrivetrain.java
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Expand Up @@ -72,8 +72,10 @@ public static class PRACTICE_BOT {
public static final double SLOW_MODE_MULTIPLIER = 0.5;

// Physical dimensions
// TODO: Confirm Gear Ratios
public static Ratios GEAR_RATIOS = Ratios.MK4I.L2;

// TODO: Replace with actual measurement
public static Distance WHEEL_DIAMETER = Inches.of(4.0);
public static Distance MODULE_OFFSET_LOCATIONS = ModuleLocations.frame29x29;

Expand Down Expand Up @@ -107,6 +109,7 @@ public static class PRACTICE_BOT {
public static final double MEASUREMENT_STD_DEV_HEADING = Units.Radians.convertFrom(5, Units.Degrees);

// Inverts
// TODO: Replace with actual measurement
public static final boolean INVERT_LEFT_SIDE_DRIVE = false;
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public static final boolean INVERT_RIGHT_SIDE_DRIVE = true;
public static final boolean INVERT_STEER = true;
Expand Down Expand Up @@ -159,6 +162,7 @@ public static class PRACTICE_BOT {
public static class AUTO_ALIGN {
public static final LinearVelocity MIN_DRIVER_OVERRIDE = ConstDrivetrain.REAL_DRIVE_SPEED.div(10);

// TODO: Replace with actual PID
public static final PIDController POSE_TRANS_CONTROLLER = new PIDController(
3,
0,
Expand All @@ -171,6 +175,7 @@ public static class AUTO_ALIGN {

public static final Distance AT_POINT_TOLERANCE = Units.Inches.of(0.5);

// TODO: Replace with actual PID
public static final ProfiledPIDController POSE_ROTATION_CONTROLLER = new ProfiledPIDController(
2, 0, 0, new TrapezoidProfile.Constraints(TURN_SPEED.in(Units.DegreesPerSecond),
Math.pow(TURN_SPEED.in(Units.DegreesPerSecond), 2)));
Expand Down Expand Up @@ -209,6 +214,7 @@ public static class SIMULATION {
public static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
}

// TODO: Replace with actual PID
public static class ROTATION_PID {
public static final double kP = 5.0;
public static final double kI = 0.0;
Expand Down
1 change: 1 addition & 0 deletions src/main/java/frc/robot/constants/ConstField.java
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Expand Up @@ -131,6 +131,7 @@ public static boolean isRedAlliance() {
};

public static class FieldElements {
// TODO: Replace with actual measurement
private static final Pose2d RESET_POSE = new Pose2d(0, 0, new Rotation2d());

}
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/constants/ConstSystem.java
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Expand Up @@ -10,7 +10,7 @@

public final class ConstSystem {

public static final String PRACTICE_BOT_RIO = ""; // TODO: Replace with actual RIO name
public static final String PRACTICE_BOT_RIO_SERIAL_NUMBER = ""; // TODO: Replace with actual RIO serial number

public static class constControllers {
public static final double DRIVER_LEFT_STICK_DEADBAND = 0.05;
Expand Down
4 changes: 4 additions & 0 deletions src/main/java/frc/robot/constants/ConstVision.java
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Expand Up @@ -45,6 +45,7 @@ public static class IMUMode {
}

public static final double IMU_ASSIST_ALPHA_VALUE = 0.01;
// TODO: Replace with actual names
public static final String LIMELIGHT_RIGHT_NAME = "limelight-right";
public static final String LIMELIGHT_LEFT_NAME = "limelight-left";
public static final String LIMELIGHT_BACK_NAME = "limelight-back";
Expand Down Expand Up @@ -93,6 +94,7 @@ public static class IMUMode {
public static final Boolean USE_MEGA_TAG_2 = true;

// The below values are accounted for in the limelight interface, NOT in code
// TODO: Replace with actual measurement
public static class LimelightRight {
public static final Distance LL_FORWARD = Units.Meters.of(0.269494);
public static final Distance LL_RIGHT = Units.Meters.of(0.307594);
Expand All @@ -103,6 +105,7 @@ public static class LimelightRight {
public static final Angle LL_YAW = Units.Degrees.of(51.25);
}

// TODO: Replace with actual measurement
public static class LimelightLeft {
public static final Distance LL_FORWARD = Units.Meters.of(0.269494);
public static final Distance LL_RIGHT = Units.Meters.of(-0.307594);
Expand All @@ -114,6 +117,7 @@ public static class LimelightLeft {

}

// TODO: Replace with actual measurement
public static class LimelightBack {
public static final Distance LL_FORWARD = Units.Meters.of(0.3429);
public static final Distance LL_RIGHT = Units.Meters.of(0);
Expand Down
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