Makes constants in a big file #218

koolpoolo · 2025-12-05T04:36:31Z

applied fixes for issue #215

gemini-code-assist · 2025-12-05T04:36:58Z

Summary of Changes

Hello @koolpoolo, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly refactors the robot's codebase by centralizing all constant values into a single, well-organized Constants.java file. This change improves code maintainability and readability by providing a single source of truth for all configurable parameters, making it easier to locate, understand, and modify system-wide settings. The refactoring addresses issue #215 by streamlining constant management.

Highlights

Centralized Constants: All robot-wide constant values, previously scattered across various subsystem files and a dedicated Hardware.java file, have been consolidated into a single src/main/java/frc/robot/Constants.java file. This new file organizes constants into nested public classes for each subsystem (e.g., armPivotConstants, elevatorConstants, visionConstants_Misc).
Removed Hardware File: The src/main/java/frc/robot/Hardware.java file, which previously held many hardware-related IDs and configuration values, has been removed as its contents have been migrated to the new Constants.java file.
Codebase Update: All affected files, including Controls.java, Robot.java, various sensor classes, and all subsystem implementations (e.g., ArmPivot.java, ElevatorSubsystem.java, VisionSubsystem.java), have been updated to reference the new, centralized constant definitions from Constants.java. This involved removing redundant constant declarations from individual files and updating their usage to point to the appropriate Constants nested class.

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Code Review

This pull request does a great job of refactoring constants into a central Constants.java file, which significantly improves maintainability. However, there are several critical issues in the new Constants.java file that will prevent the code from compiling. The nested constant classes must be declared as static, and they should also follow Java's PascalCase naming convention. I've also pointed out some minor style issues and a couple of latent bugs in commented-out code in the Controls.java file. Addressing these points will make this a solid and beneficial refactoring.

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

src/main/java/frc/robot/Controls.java

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

src/main/java/frc/robot/Controls.java

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>

markpete · 2025-12-09T01:00:01Z

src/main/java/frc/robot/subsystems/ArmPivot.java

-    talonFXConfiguration.Slot0.kI = ARMPIVOT_KI;
-    talonFXConfiguration.Slot0.kD = ARMPIVOT_KD;
-    talonFXConfiguration.Slot0.kG = ARMPIVOT_KG;
+    talonFXConfiguration.Slot0.kS = ArmPivotConstants.ARMPIVOT_KS;


Minor suggestion: Group these into a single subclass, e.g.

ArmPivotConstants.TalonSlot0.*

This would create a logical subgrouping that will simplify maintenance.

markpete · 2025-12-09T01:01:44Z

src/main/java/frc/robot/subsystems/ElevatorSubsystem.java

-    configuration.Slot0.kP = ELEVATOR_KP;
-    configuration.Slot0.kI = ELEVATOR_KI;
-    configuration.Slot0.kD = ELEVATOR_KD;
+    configuration.Slot0.kS = ElevatorConstants.ELEVATOR_KS;


Consider sub-class for grouping:

ElevatorConstants.Slot0.*

markpete · 2025-12-09T01:04:11Z

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

+    public static final String LEFT_CAM = "Arducam_OV9782L";
+    public static final String RIGHT_CAM = "Arducam_OV9281R";
+    // branch sensors [25-29] (mounted on elevator)
+    // fixed it for u connor ;) - mech


Please remove comment thanking Connor, especially if we're going to open-source this code. Otherwise you have a Personal Information leak.

markpete

I left a few minor suggestions, but overall, a great improvement.

jamesdooley4 · 2025-12-12T02:36:03Z

src/main/java/frc/robot/subsystems/ArmPivot.java

-  // Presets
-  private final double ARMPIVOT_KP = 38.5; // previously 50
-  private final double ARMPIVOT_KI = 0;
-  private final double ARMPIVOT_KD = 0;
-  private final double ARMPIVOT_KS = 0.1;
-  private final double ARMPIVOT_KV = 0.69;
-  private final double ARMPIVOT_KG = 0.18;
-  private final double ARMPIVOT_KA = 0.0;
-  // Preset positions for Arm with Coral
-  public static final double CORAL_PRESET_L1 = 0;
-  public static final double CORAL_PRESET_L2 = 0.13;
-  public static final double CORAL_PRESET_L3 = 0.13;
-  public static final double CORAL_PRESET_L4 = 0.0;
-  public static final double CORAL_PRESET_PRE_L4 = 1.0 / 16.0;
-  public static final double CORAL_PRESET_STOWED = 0.125;
-  public static final double CORAL_PRESET_OUT = 0;
-  public static final double CORAL_PRESET_UP = 0.25; // Pointing directly upwards
-  public static final double CORAL_PRESET_DOWN = -0.25;
-  // Preset positions for Arm with Algae
-  public static final double CORAL_POST_SCORE = -0.15;
-  public static final double CORAL_QUICK_INTAKE = -0.07;
-  public static final double ALGAE_REMOVE_PREPOS = 0;
-  public static final double ALGAE_REMOVE = 0;
-  public static final double ALGAE_FLING = -0.08;
-  public static final double ALGAE_STOWED = -0.05;
-  public static final double ALGAE_PROCESSOR_SCORE = -0.05;
-  public static final double ALGAE_GROUND_INTAKE = -0.085;
-  public static final double ALGAE_NET_SCORE = 0.175; // untested - old value was 0.18
-


I'm generally not a fan of splitting code across multiple files for a logical unit (Arm Pivot in this case) since it means always having two files open when working on code related to that component

The team did this last in InfiniteRecharge - see https://github.com/robototes/InfiniteRecharge2020/tree/master/src/main/java/frc/team2412/robot/subsystems/constants

applied fixes for issue #215

b994219

koolpoolo requested a review from Jetblackdragon December 5, 2025 04:36

koolpoolo requested a review from markpete December 5, 2025 04:36

gemini-code-assist bot reviewed Dec 5, 2025

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koolpoolo and others added 10 commits December 5, 2025 13:42

Update Constants.java

259ac16

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Update Constants.java

19942cd

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Update Constants.java

26f159d

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Update Constants.java

deb6fa3

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Update Constants.java

95c09ca

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Update Constants.java

6f39802

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Update Constants.java

eca0e65

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Update Controls.java

d05d739

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Update Controls.java

1bf90e8

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made it pass gradle build

1b18ef7

koolpoolo marked this pull request as ready for review December 9, 2025 00:09

markpete reviewed Dec 9, 2025

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markpete approved these changes Dec 9, 2025

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jamesdooley4 requested changes Dec 12, 2025

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Jetblackdragon closed this Dec 16, 2025

koolpoolo deleted the make_constants_good branch December 18, 2025 15:32

Makes constants in a big file #218

Makes constants in a big file #218

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koolpoolo commented Dec 5, 2025

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