add comments / organize code and fix warnings

.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "Robot-Code-2024"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

.vscode/settings.json

@@ -25,5 +25,10 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.format.settings.url": ".vscode/eclipse-java-google-style.xml",
+  "[java]": {
+    "editor.detectIndentation": false
+  },
+  "java.checkstyle.configuration": "${workspaceFolder}/.vscode/eclipse-java-google-style.xml"
 }

src/main/java/frc/robot/Constants.java

@@ -1,98 +1,94 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 // ***NEED TO BE UPDATED FOR 2024 SEASON***
 
 /**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants. This class should not be used for any other purpose. All constants should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or
+ * boolean constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
  *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
 
-  public static class OperatorConstants {
-    public static final int DRIVER_XBOX_PORT = 0;
-    public static final int COPILOT_XBOX_PORT = 1;
+    public static class OperatorConstants {
+        public static final int DRIVER_XBOX_PORT = 0;
+        public static final int COPILOT_XBOX_PORT = 1;
 
-    public static final double DRIVER_JOYSTICK_DEADBAND = 0.1;
-    public static final double DRIVE_SPEED_ADJUSTMENT = 0.8;
-  }
+        public static final double DRIVER_JOYSTICK_DEADBAND = 0.1;
+        public static final double DRIVE_SPEED_ADJUSTMENT = 0.8;
+    }
 
-  public static class DrivetrainConstants {
-    public static final int LEFT_MOTOR_1_PORT = 1;
-    public static final int LEFT_MOTOR_2_PORT = 2;
-    public static final int RIGHT_MOTOR_1_PORT = 3;
-    public static final int RIGHT_MOTOR_2_PORT = 4;
+    public static class DrivetrainConstants {
+        public static final int LEFT_MOTOR_1_PORT = 1;
+        public static final int LEFT_MOTOR_2_PORT = 2;
+        public static final int RIGHT_MOTOR_1_PORT = 3; 
+        public static final int RIGHT_MOTOR_2_PORT = 4;
 
-    public static final int COUNTS_PER_REV = 42;
+        public static final int COUNTS_PER_REV = 42;
 
-    // 1 meter = 39.37 inches = 2.088 wheel rotations = 17.664 motor rotations (assuming gear ratio = 8.46)
-    public static final double METERS_TO_ROTATIONS = 17.664;
-    public static final double DEGREES_TO_ROTATIONS = 0.1; // value accurate as of 2/13/24
-  }
+        // 1 meter = 39.37 inches = 2.088 wheel rotations = 17.664 motor rotations (assuming gear ratio = 8.46)
+        public static final double METERS_TO_ROTATIONS = 17.664;
+        public static final double DEGREES_TO_ROTATIONS = 0.1; // value accurate as of 2/13/24
+    }
 
-  public static class IntakeConstants {
-    public static final int INTAKE_MOTOR_PORT = 5;
+    public static class IntakeConstants {
+        public static final int INTAKE_MOTOR_PORT = 5;
 
-    public static final double INTAKE_MOTOR_SPEED_IN = 0.4; 
-    public static final double INTAKE_MOTOR_SPEED_OUT = -0.4; 
+        public static final double INTAKE_MOTOR_SPEED_IN = 0.4; 
+        public static final double INTAKE_MOTOR_SPEED_OUT = -0.4; 
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class IndexerConstants {
-    public static final int INDEXER_MOTOR_PORT = 6;
+    public static class IndexerConstants {
+        public static final int INDEXER_MOTOR_PORT = 6;
 
-    public static final double INDEXER_MOTOR_SPEED_DOWN = 0.4; // TODO: replace with values from beam break branch
-    public static final double INDEXER_MOTOR_SPEED_UP = -0.4; // TODO: replace with values from beam break branch
+        public static final double INDEXER_MOTOR_SPEED_DOWN = 0.4; // TO DO: replace with values from beam break branch
+        public static final double INDEXER_MOTOR_SPEED_UP = -0.4; // TO DO: replace with values from beam break branch
 
-    public static final double INDEXER_MOTOR_SPEED_DOWN_BACKUP = 0.2; // for testing/backup, finalized 02/23/2024
-    public static final double INDEXER_MOTOR_SPEED_UP_BACKUP = -0.2; // for testing/backup, finalized 02/23/2024
+        public static final double INDEXER_MOTOR_SPEED_DOWN_BACKUP = 0.2; // for testing/backup, finalized 02/23/2024
+        public static final double INDEXER_MOTOR_SPEED_UP_BACKUP = -0.2; // for testing/backup, finalized 02/23/2024
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class ShooterConstants {
-    public static final int SHOOTER_MOTOR_PORT = 7;
+    public static class ShooterConstants {
+        public static final int SHOOTER_MOTOR_PORT = 7;
 
-    public static final double SHOOTER_MOTOR_SPEED_AMP = HoodConstants.HOOD_MOTOR_SPEED / -2.0; // should be half of HOOD_MOTOR_SPEED, finalized 02/23/2024
-    public static final double SHOOTER_MOTOR_SPEED_SPEAKER = -0.5; // correct as of 2/25/24
-    public static final double SHOOTER_MOTOR_SPEED_OUT = -0.5; // constant for testing
+        public static final double SHOOTER_MOTOR_SPEED_AMP = HoodConstants.HOOD_MOTOR_SPEED / -2.0; // should be half of HOOD_MOTOR_SPEED, finalized 02/23/2024
+        public static final double SHOOTER_MOTOR_SPEED_SPEAKER = -0.5; // correct as of 2/25/24
+        public static final double SHOOTER_MOTOR_SPEED_OUT = -0.5; // constant for testing
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class HoodConstants {
-    public static final int HOOD_MOTOR_PORT = 9; // correct as of 2/20/24
-    public static final int PIVOT_MOTOR_PORT = 8; // correct as of 2/20/24
+    public static class HoodConstants {
+        public static final int HOOD_MOTOR_PORT = 9; // correct as of 2/20/24
+        public static final int PIVOT_MOTOR_PORT = 8; // correct as of 2/20/24
 
-    public static final double HOOD_MOTOR_SPEED = 0.4; // should be double of SHOOTER_MOTOR_SPEED_AMP, finalized 02/23/2024
+        public static final double HOOD_MOTOR_SPEED = 0.4; // should be double of SHOOTER_MOTOR_SPEED_AMP, finalized 02/23/2024
 
-    public static final double PIVOT_MOTOR_SPEED = 0.5; // finalized 02/23/2024
-    public static final double SLOW_PIVOT_MOTOR_SPEED = 0.2; // finalized 02/23/2024
+        public static final double PIVOT_MOTOR_SPEED = 0.5; // finalized 02/23/2024
+        public static final double SLOW_PIVOT_MOTOR_SPEED = 0.2; // finalized 02/23/2024
 
-    // assuming hood back is at encoder position 0, PIVOT_DISTANCE is the required encoder position for the hood to be forward
-    public static final double PIVOT_DISTANCE = -48.20; // correct as of 2/20/24
+        // assuming hood back is at encoder position 0, PIVOT_DISTANCE is the required encoder position for the hood to be forward
+        public static final double PIVOT_DISTANCE = -48.20; // correct as of 2/20/24
 
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class ClimberConstants {
-    public static final int CLIMBER_MOTOR_PORT = 100; // TO DO: set ID val
+    public static class ClimberConstants {
+        public static final int CLIMBER_MOTOR_PORT = 100; // TO DO: set ID val
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class AutoConstants {
-    public static final double TAXI_AUTO_TARGET_DISTANCE = 25; // distance in meters to taxi (unset for 2024)
-    public static final double TAXI_AUTO_SPEED = 0.4; // (temp) speed of robot during taxi auto
-    public static final double ROTATION_SPEED = 0.5;
-  }
+    public static class AutoConstants {
+        public static final double TAXI_AUTO_TARGET_DISTANCE = 25; // distance in meters to taxi (unset for 2024)
+        public static final double TAXI_AUTO_SPEED = 0.4; // (temp) speed of robot during taxi auto
+        public static final double ROTATION_SPEED = 0.5;
+    }
 }

src/main/java/frc/robot/Main.java

@@ -1,25 +1,24 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
+ * Do not add any static variables to this class, or any initialization at all. Unless you know
+ * what you are doing, do not modify this file except to change the parameter class to the
+ * startRobot call.
  */
 public final class Main {
-  private Main() {}
+    /**
+     * Constructs Main object.
+     */
+    public Main() {}
 
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
+    /**
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * If you change your main robot class, change the parameter type.
+     */
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
 }

src/main/java/frc/robot/OI.java

@@ -48,4 +48,4 @@ public double getCoXBoxRightJoyX() {
         return m_coPilotXbox.getRightX();
     }
 
-}
+}