refactor: Refactor spree.

Author: haydenheroux

src/main/java/frc/lib/DoubleJointedArmFeedforward.java

@@ -33,13 +33,13 @@ public DoubleJointedArmFeedforward(JointConstants shoulder, JointConstants elbow
     this.g1 = shoulder.gearing();
     this.g2 = elbow.gearing();
 
-    B_MATRIX.set(0, 0, shoulder.torque());
-    B_MATRIX.set(1, 1, elbow.torque());
+    B_MATRIX.set(0, 0, shoulder.torqueNm());
+    B_MATRIX.set(1, 1, elbow.torqueNm());
     B_MATRIX.set(1, 0, 0);
     B_MATRIX.set(0, 1, 0);
 
-    Kb_MATRIX.set(0, 0, shoulder.torqueLoss());
-    Kb_MATRIX.set(1, 1, elbow.torqueLoss());
+    Kb_MATRIX.set(0, 0, shoulder.torqueLossNm());
+    Kb_MATRIX.set(1, 1, elbow.torqueLossNm());
     Kb_MATRIX.set(1, 0, 0);
     Kb_MATRIX.set(0, 1, 0);
   }

src/main/java/frc/lib/JointConstants.java

@@ -53,8 +53,7 @@ public JointConstants(
    *
    * @return the torque generated by the joint's gearbox element for the feedforward matrix.
    */
-  // TODO Determine units
-  public double torque() {
+  public double torqueNm() {
     return gearing * motorCount * motor.KtNMPerAmp / motor.rOhms;
   }
 
@@ -63,8 +62,7 @@ public double torque() {
    *
    * @return the torque loss due to back-emf for the feedforward matrix.
    */
-  // TODO Determine units
-  public double torqueLoss() {
+  public double torqueLossNm() {
     return gearing
         * gearing
         * motorCount

src/main/java/frc/lib/Telemetry.java

@@ -83,7 +83,6 @@ public static ShuffleboardLayout addColumn(ShuffleboardTab tab, String columnTit
    * @param component the component to make fullscreen.
    * @return the fullscreen component.
    */
-  // TODO
   public static ShuffleboardComponent makeFullscreen(ShuffleboardComponent component) {
     return component.withPosition(0, 0).withSize(10, 4);
   }

src/main/java/frc/robot/arm/ShoulderMotorIOSim.java

@@ -45,7 +45,6 @@ public void setSetpoint(double positionRotations, double velocityRotationsPerSec
 
   @Override
   public void setVoltage(double volts) {
-    // TODO
     this.inputVoltage = volts;
   }
 }

src/main/java/frc/robot/climber/Climber.java

@@ -29,8 +29,8 @@ public class Climber extends Subsystem {
 
   /** Creates a new instance of the climber subsystem. */
   private Climber() {
-    westElevator = new ElevatorIOSim(); // TODO
-    eastElevator = new ElevatorIOSim(); // TODO
+    westElevator = new ElevatorIOSim();
+    eastElevator = new ElevatorIOSim();
 
     westElevator.configure();
     eastElevator.configure();

src/main/java/frc/robot/climber/ClimberConstants.java

@@ -7,18 +7,7 @@ public class ClimberConstants {
 
   /** Constants for the elevator. */
   public static class ElevatorConstants {
-    /** Gearing between the elevator motor and drum. */
-    public static final double GEARING = 25.0;
-
-    /** Mass of the elevator carriage in kilograms. */
-    // TODO Does not include the mass of two WCP-0418 parts
-    public static final double MASS = Units.lbsToKilograms(0.678);
-
-    /** Diameter of the drum in meters. */
-    public static final double DRUM_DIAMETER = Units.inchesToMeters(0.908);
-
     /** Minimum height of the elevator in meters. */
-    // TODO Determine if the minimum height is above this
     public static final double MIN_HEIGHT = 0.0;
 
     /** Maximum height of the elevator in meters. */

src/main/java/frc/robot/climber/ClimberFactory.java

@@ -1,9 +1,6 @@
 package frc.robot.climber;
 
 import frc.lib.CAN;
-import frc.robot.Robot;
-import frc.robot.RobotConstants;
-import frc.robot.RobotConstants.Subsystem;
 
 /** Helper class for creating hardware for the climber subsystem. */
 public class ClimberFactory {
@@ -14,10 +11,6 @@ public class ClimberFactory {
    * @return an elevator.
    */
   public static ElevatorIO createElevator(CAN can, boolean inverted) {
-    if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.CLIMBER)) {
-      return new ElevatorIOSparkMax(can, inverted);
-    }
-
     return new ElevatorIOSim();
   }
 }

src/main/java/frc/robot/climber/ElevatorIOSim.java

@@ -1,49 +1,23 @@
 package frc.robot.climber;
 
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.simulation.ElevatorSim;
-import frc.robot.RobotConstants;
-import frc.robot.climber.ClimberConstants.ElevatorConstants;
-
 /** Simulated elevator. */
 public class ElevatorIOSim implements ElevatorIO {
 
-  private final DCMotor motor;
-
-  private final ElevatorSim elevatorSim;
-
-  public ElevatorIOSim() {
-    motor = DCMotor.getNEO(1);
-
-    elevatorSim =
-        new ElevatorSim(
-            motor,
-            ElevatorConstants.GEARING,
-            ElevatorConstants.MASS,
-            ElevatorConstants.DRUM_DIAMETER,
-            ElevatorConstants.MIN_HEIGHT,
-            ElevatorConstants.MAX_HEIGHT,
-            false,
-            ElevatorConstants.MIN_HEIGHT);
-  }
+  private double positionMeters;
 
   @Override
   public void configure() {}
 
   @Override
   public void update(ElevatorIOValues values) {
-    elevatorSim.update(RobotConstants.PERIODIC_DURATION);
-
-    values.positionMeters = elevatorSim.getPositionMeters();
+    values.positionMeters = positionMeters;
   }
 
   @Override
   public void setPosition(double positionMeters) {
-    elevatorSim.setState(positionMeters, 0);
+    this.positionMeters = positionMeters;
   }
 
   @Override
-  public void setVoltage(double volts) {
-    elevatorSim.setInputVoltage(volts);
-  }
+  public void setVoltage(double volts) {}
 }

src/main/java/frc/robot/climber/ElevatorIOSparkMax.java

@@ -10,12 +10,6 @@ public class IntakeConstants {
 
   /** Constants for the pivot motor. */
   public static class PivotMotorConstants {
-    /** Gearing between the pivot sensor and the pivot. */
-    public static final double SENSOR_GEARING = 2.3;
-
-    /** Gearing between the motor and the pivot. */
-    public static final double MOTOR_GEARING = 49 * SENSOR_GEARING;
-
     /** Distance between the pivot and the far edge of the intake. */
     public static final double DISTANCE = Units.inchesToMeters(10.275);
 
@@ -51,9 +45,6 @@ public static class PivotMotorConstants {
 
   /** Constants for the roller motor. */
   public static class RollerMotorConstants {
-    /** Gearing between the roller motor and the rollers. */
-    public static final double GEARING = 4.5;
-
     /** Velocity to apply when intaking in rotations per second. */
     public static final double INTAKE_VELOCITY = 1.0;