spartronics4915/atlas

Code for our first year robot, revamped for marketing and demonstration purposes.

atlas's Issues

Comments required for code like this

Atlas/src/main/java/com/spartronics4915/atlas/commands/TeleopDrivetrain.java

Line 35 in 0e18ae2

Math.max(Math.min(OI.sDriveStick.getX() - OI.sDriveStick.getY(), 1), -1),

@pietroglyph It took me several minutes to figure out what your Math.max() and Math.min() stuff was doing here. Very clever, but not easily maintainable. I strongly suggest a paragraph of comments above this code, explaining what it is doing in detail, or rewriting it in multiple steps (on multiple lines of code) so that the intent is obvious.

Any reason we're not just using the arcade drive object to do all the magic for us?

Update for 2022 or later

Not high priority at all — the robot still works fine with the code currently on it — but something that should probably be done eventually is updating the project for 2022/later years and fixing any bugs so it can be compiled and the robot still works e.g. if the roboRIO breaks and needs to get replaced. Even the code from 2020 already doesn't build without modification; we should handle this before Atlas breaking would become a major problem.

Speed controller types

Atlas/src/main/java/com/spartronics4915/atlas/subsystems/Drivetrain.java

Line 27 in 0e18ae2

public SpeedController mLeftMotor;

Is there a good reason to use a generic SpeedController type instead of the specific motor interface class (ie, Talon or Victor or Jaguar or whatever)?

I am concerned that this generic SpeedController class may not initialize the PWM parameters correctly for specific motor controllers, and based on this document there are differences:
https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599702-driving-motors-with-speed-controller-objects-victors-talons-and-jaguars

And if a generic class is acceptable, why not PWMSpeedController?