Merge pull request #72 from blair-robot-project/oneline_defaults

Oneline defaults

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java

@@ -230,11 +230,11 @@ public void robotInit() {
 						robotMap.getRightProfiles().get(allianceString + "_" + position));
 				//Set the autonomousCommand to be the correct command for the current position and alliance.
 				if (position.equals("center")) {
-					autonomousCommand = robotMap.getCenterAuto().getCommand();
+					autonomousCommand = robotMap.getCenterAuto();
 				} else if ((position.equals("right") && redAlliance) || (position.equals("left") && !redAlliance)) {
-					autonomousCommand = robotMap.getBoilerAuto().getCommand();
+					autonomousCommand = robotMap.getBoilerAuto();
 				} else {
-					autonomousCommand = robotMap.getFeederAuto().getCommand();
+					autonomousCommand = robotMap.getFeederAuto();
 				}
 			}
 		} else {

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap.java

@@ -35,7 +35,7 @@ public class RobotMap {
 	private final TalonClusterDrive drive;
 
 	@NotNull
-	private final UnidirectionalNavXDefaultDrive defaultDriveCommand;
+	private final Command defaultDriveCommand;
 
 	@Nullable
 	private final ClimberSubsystem climber;
@@ -71,13 +71,13 @@ public class RobotMap {
 	private final MappedDigitalInput locationDial;
 
 	@Nullable
-	private final YamlCommand boilerAuto;
+	private final Command boilerAuto;
 
 	@Nullable
-	private final YamlCommand centerAuto;
+	private final Command centerAuto;
 
 	@Nullable
-	private final YamlCommand feederAuto;
+	private final Command feederAuto;
 
 	@Nullable
 	private final MotionProfileData leftTestProfile;
@@ -116,37 +116,21 @@ public class RobotMap {
 	 * @param gearHandler         The gear handler on this robot. Can be null.
 	 * @param RIOduinoPort        The I2C port of the RIOduino plugged into this robot. Can be null.
 	 * @param allianceSwitch      The switch for selecting which alliance we're on. Can be null if doMP is false or
-	 *                            testMP
-	 *                            is true, but otherwise must have a value.
-	 * @param dropGearSwitch      The switch for deciding whether or not to drop the gear. Can be null if doMP is false
-	 *                            or
 	 *                            testMP is true, but otherwise must have a value.
-	 * @param locationDial        The dial for selecting which side of the field the robot is on. Can be null if doMP
-	 *                            is
-	 *                            false or testMP is true, but otherwise must have a value.
-	 * @param boilerAuto          The command to run in autonomous on the boiler side of the field. Can be null if doMP
-	 *                            is
-	 *                            false or testMP is true, but otherwise must have a value.
-	 * @param centerAuto          The command to run in autonomous on the center of the field. Can be null if doMP is
-	 *                            false
+	 * @param dropGearSwitch      The switch for deciding whether or not to drop the gear. Can be null if doMP is false
 	 *                            or testMP is true, but otherwise must have a value.
-	 * @param feederAuto          The command to run in autonomous on the feeding station side of the field. Can be
-	 *                            null
-	 *                            if
-	 *                            doMP is false or testMP is true, but otherwise must have a value.
+	 * @param locationDial        The dial for selecting which side of the field the robot is on. Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param boilerAuto          The command to run in autonomous on the boiler side of the field. Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param centerAuto          The command to run in autonomous on the center of the field. Can be null if doMP is
+	 *                            false or testMP is true, but otherwise must have a value.
+	 * @param feederAuto          The command to run in autonomous on the feeding station side of the field. Can be null if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param leftTestProfile     The profile for the left side of the drive to run in test mode. Can be null if either
 	 *                            testMP or doMP are false, but otherwise must have a value.
-	 * @param rightTestProfile    The profile for the right side of the drive to run in test mode. Can be null if
-	 *                            either
-	 *                            testMP or doMP are false, but otherwise must have a value.
+	 * @param rightTestProfile    The profile for the right side of the drive to run in test mode. Can be null if either testMP or doMP are false, but otherwise must have a value.
 	 * @param leftProfiles        The starting position to peg profiles for the left side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
-	 *                            Can
-	 *                            be null if doMP is false or testMP is true, but otherwise must have a value.
+	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". Can be null if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param rightProfiles       The starting position to peg profiles for the right side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
-	 *                            Can
-	 *                            be null if doMP is false or testMP is true, but otherwise must have a value.
+	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". Can be null if doMP is false or testMP is true, but otherwise must have a value.
 	 * @param nonMPAutoCommand    The command to run during autonomous if doMP is false. Can be null, and if it is, no
 	 *                            command is run during autonomous.
 	 * @param testMP              Whether to run the test or real motion profile during autonomous. Defaults to false.
@@ -157,7 +141,7 @@ public RobotMap(@NotNull @JsonProperty(required = true) List<CommandButton> butt
 	                @NotNull @JsonProperty(required = true) ArcadeOIWithDPad arcadeOI,
 	                @NotNull @JsonProperty(required = true) Logger logger,
 	                @NotNull @JsonProperty(required = true) TalonClusterDrive drive,
-	                @NotNull @JsonProperty(required = true) UnidirectionalNavXDefaultDrive defaultDriveCommand,
+	                @NotNull @JsonProperty(required = true) YamlCommand defaultDriveCommand,
 	                @Nullable ClimberSubsystem climber,
 	                @Nullable SingleFlywheelShooter shooter,
 	                @Nullable CameraSubsystem camera,
@@ -190,14 +174,14 @@ public RobotMap(@NotNull @JsonProperty(required = true) List<CommandButton> butt
 		this.allianceSwitch = allianceSwitch;
 		this.dropGearSwitch = dropGearSwitch;
 		this.locationDial = locationDial;
-		this.boilerAuto = boilerAuto;
-		this.centerAuto = centerAuto;
-		this.feederAuto = feederAuto;
+		this.boilerAuto = boilerAuto != null ? boilerAuto.getCommand() : null;
+		this.centerAuto = centerAuto != null ? centerAuto.getCommand() : null;
+		this.feederAuto = feederAuto != null ? feederAuto.getCommand() : null;
 		this.leftTestProfile = leftTestProfile;
 		this.rightTestProfile = rightTestProfile;
 		this.leftProfiles = leftProfiles;
 		this.rightProfiles = rightProfiles;
-		this.defaultDriveCommand = defaultDriveCommand;
+		this.defaultDriveCommand = defaultDriveCommand.getCommand();
 		if (nonMPAutoCommand != null) {
 			this.nonMPAutoCommand = nonMPAutoCommand.getCommand();
 		} else {
@@ -299,17 +283,17 @@ public Map<String, MotionProfileData> getRightProfiles() {
 	}
 
 	@Nullable
-	public YamlCommand getBoilerAuto() {
+	public Command getBoilerAuto() {
 		return boilerAuto;
 	}
 
 	@Nullable
-	public YamlCommand getCenterAuto() {
+	public Command getCenterAuto() {
 		return centerAuto;
 	}
 
 	@Nullable
-	public YamlCommand getFeederAuto() {
+	public Command getFeederAuto() {
 		return feederAuto;
 	}
 
@@ -319,7 +303,7 @@ public Command getNonMPAutoCommand() {
 	}
 
 	@NotNull
-	public UnidirectionalNavXDefaultDrive getDefaultDriveCommand() {
+	public Command getDefaultDriveCommand() {
 		return defaultDriveCommand;
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/MappedSmoothedThrottle.java

@@ -11,12 +11,25 @@
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
 public class MappedSmoothedThrottle extends MappedThrottle {
 
+	/**
+	 * The value below which the joystick input is considered 0.
+	 */
 	protected final double deadband;
 
+	/**
+	 * The smoothing filter for the joystick input.
+	 */
+	@NotNull
 	private final LinearDigitalFilter filter;
 
+	/**
+	 * The input from the joystick. Declared outside of getValue to avoid garbage collection.
+	 */
 	private double input;
 
+	/**
+	 * The sign of the input from the joystick. Declared outside of getValue to avoid garbage collection.
+	 */
 	private double sign;
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/RotPerSecCANTalonSRX.java

@@ -213,20 +213,12 @@ public RotPerSecCANTalonSRX(@JsonProperty(required = true) int port,
 		//Set high/only gear nominal voltages
 		this.highGearFwdNominalOutputVoltage = highGearFwdNominalOutputVoltage;
 		//If no reverse nominal voltage is given, assume symmetry.
-		if (highGearRevNominalOutputVoltage == null) {
-			this.highGearRevNominalOutputVoltage = highGearFwdNominalOutputVoltage;
-		} else {
-			this.highGearRevNominalOutputVoltage = highGearRevNominalOutputVoltage;
-		}
+		this.highGearRevNominalOutputVoltage = highGearRevNominalOutputVoltage != null ? highGearRevNominalOutputVoltage : highGearFwdNominalOutputVoltage;
 
 		//Set low gear nominal voltages
 		this.lowGearFwdNominalOutputVoltage = lowGearFwdNominalOutputVoltage;
 		//If no reverse nominal voltage is given, assume symmetry.
-		if (lowGearRevNominalOutputVoltage == null) {
-			this.lowGearRevNominalOutputVoltage = lowGearFwdNominalOutputVoltage;
-		} else {
-			this.lowGearRevNominalOutputVoltage = lowGearRevNominalOutputVoltage;
-		}
+		this.lowGearRevNominalOutputVoltage = lowGearRevNominalOutputVoltage != null ? lowGearRevNominalOutputVoltage : lowGearFwdNominalOutputVoltage;
 
 		//Set to high gear by default.
 		canTalon.configNominalOutputVoltage(this.highGearFwdNominalOutputVoltage, -this.highGearRevNominalOutputVoltage);
@@ -269,17 +261,10 @@ public RotPerSecCANTalonSRX(@JsonProperty(required = true) int port,
 		}
 
 		//postEncoderGearing defaults to 1
-		if (postEncoderGearing == null) {
-			this.postEncoderGearing = 1.;
-		} else {
-			this.postEncoderGearing = postEncoderGearing;
-		}
+		this.postEncoderGearing = postEncoderGearing != null ? postEncoderGearing : 1.;
 
 		//Configure the maximum output voltage. If only forward voltage was given, use it for both forward and reverse.
-		if (revPeakOutputVoltage == null) {
-			revPeakOutputVoltage = fwdPeakOutputVoltage;
-		}
-		canTalon.configPeakOutputVoltage(fwdPeakOutputVoltage, -revPeakOutputVoltage);
+		canTalon.configPeakOutputVoltage(fwdPeakOutputVoltage, revPeakOutputVoltage != null ? -revPeakOutputVoltage : -fwdPeakOutputVoltage);
 
 		//Set the current limit if it was given
 		if (currentLimit != null) {

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/talonCluster/ShiftingTalonClusterDrive.java

@@ -67,11 +67,7 @@ public ShiftingTalonClusterDrive(@NotNull @JsonProperty(required = true) RotPerS
 		this.shifter = shifter;
 
 		//Default to low
-		if (startingGear == null) {
-			this.startingGear = gear.LOW;
-		} else {
-			this.startingGear = startingGear;
-		}
+		this.startingGear = startingGear != null ? startingGear : gear.LOW;
 		currentGear = this.startingGear;
 
 		// Initialize shifting constants, assuming robot is stationary.

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/talonCluster/TalonClusterDrive.java

@@ -75,10 +75,7 @@ public TalonClusterDrive(@NotNull @JsonProperty(required = true) RotPerSecCANTal
 	                         @Nullable Double PIDScale) {
 		super();
 		//Initialize stuff
-		if (PIDScale == null) {
-			PIDScale = 1.;
-		}
-		PID_SCALE = PIDScale;
+		this.PID_SCALE = PIDScale != null ? PIDScale : 1.;
 		this.rightMaster = rightMaster;
 		this.leftMaster = leftMaster;
 		this.mpHandler = MPHandler;

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/talonCluster/commands/UnidirectionalNavXDefaultDrive.java

@@ -90,10 +90,7 @@ public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double abso
 		this.subsystem = subsystem;
 
 		driveStraightLoopEntryTimer = new BufferTimer(loopEntryDelay);
-		if (maxAngularVelToEnterLoop == null) {
-			maxAngularVelToEnterLoop = 180.;
-		}
-		this.maxAngularVelToEnterLoop = maxAngularVelToEnterLoop;
+		this.maxAngularVelToEnterLoop = maxAngularVelToEnterLoop != null ? maxAngularVelToEnterLoop : 180;
 
 		//Needs a requires because it's a default command.
 		requires(this.subsystem);

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/interfaces/subsystem/NavX/commands/PIDAngleCommand.java

@@ -89,7 +89,7 @@ public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance,
 		//This caps the output we can give. One way to set up closed-loop is to make P large and then use this to
 		// prevent overshoot.
 		if (maximumOutput != null) {
-			this.getPIDController().setOutputRange(-minimumOutput, maximumOutput);
+			this.getPIDController().setOutputRange(-maximumOutput, maximumOutput);
 		}
 
 		//Set a deadband around the setpoint, in degrees, within which don't move, to avoid "dancing"

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/mechanism/climber/commands/RunMotorWhileConditonMet.java

@@ -32,7 +32,6 @@ public class RunMotorWhileConditonMet <T extends YamlSubsystem & BinaryMotorSubs
 	public RunMotorWhileConditonMet(@NotNull @JsonProperty(required = true) T subsystem) {
 		requires(subsystem);
 		this.subsystem = subsystem;
-		Logger.addEvent("RunMotorWhileConditonMet constructed", this.getClass());
 	}
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/mechanism/pneumatics/PneumaticsSubsystem.java

@@ -38,7 +38,6 @@ public class PneumaticsSubsystem extends YamlSubsystem implements Loggable {
 	@JsonCreator
 	public PneumaticsSubsystem(@JsonProperty(required = true) int nodeID,
 	                           @Nullable PressureSensor pressureSensor) {
-		super();
 		compressor = new Compressor(nodeID);
 		this.pressureSensor = pressureSensor;
 	}

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/mechanism/pneumatics/commands/StartCompressor.java

@@ -28,7 +28,6 @@ public class StartCompressor extends YamlCommandWrapper {
 	 */
 	@JsonCreator
 	public StartCompressor(@NotNull @JsonProperty(required = true) PneumaticsSubsystem subsystem) {
-		super();
 		this.subsystem = subsystem;
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/mechanism/singleflywheelshooter/SingleFlywheelShooter.java

@@ -68,7 +68,6 @@ public SingleFlywheelShooter(@NotNull @JsonProperty(required = true) RotPerSecCA
 	                             @NotNull @JsonProperty(required = true) MappedVictor feederVictor,
 	                             @JsonProperty(required = true) double feederThrottle,
 	                             double spinUpTimeSecs) {
-		super();
 		this.shooterTalon = shooterTalon;
 		this.shooterThrottle = shooterThrottle;
 		this.feederVictor = feederVictor;

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/ArcadeOIWithDPad.java

@@ -42,17 +42,24 @@ public class ArcadeOIWithDPad extends ArcadeOI {
 	@Nullable
 	private final Joystick gamepad;
 
+	/**
+	 * The polynomial to scale the forwards throttle output by before using it to scale the rotational throttle. Can be
+	 * null, and if it is, rotational throttle is not scaled by forwards throttle.
+	 */
 	@Nullable
 	private final Polynomial scaleRotByFwdPoly;
 
 	/**
 	 * Default constructor
 	 *
-	 * @param gamepad     The gamepad containing the joysticks and buttons. Can be null if not using the D-pad.
-	 * @param rotThrottle The throttle for rotating the robot.
-	 * @param fwdThrottle The throttle for driving the robot straight.
-	 * @param invertDPad  Whether or not to invert the D-pad. Defaults to false.
-	 * @param dPadShift   How fast the dPad should turn the robot, on [0, 1]. Defaults to 0.
+	 * @param gamepad           The gamepad containing the joysticks and buttons. Can be null if not using the D-pad.
+	 * @param rotThrottle       The throttle for rotating the robot.
+	 * @param fwdThrottle       The throttle for driving the robot straight.
+	 * @param invertDPad        Whether or not to invert the D-pad. Defaults to false.
+	 * @param dPadShift         How fast the dPad should turn the robot, on [0, 1]. Defaults to 0.
+	 * @param scaleRotByFwdPoly The polynomial to scale the forwards throttle output by before using it to scale the
+	 *                          rotational throttle. Can be null, and if it is, rotational throttle is not scaled by
+	 *                          forwards throttle.
 	 */
 	@JsonCreator
 	public ArcadeOIWithDPad(

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.java

@@ -36,6 +36,7 @@ public abstract class FactoryButton extends Button {
 	 *                     {@link dPadButton}.
 	 * @return A Button constructed from the given parameters.
 	 */
+	@NotNull
 	@JsonCreator
 	public static FactoryButton constructButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick,
 	                                            @Nullable Integer buttonNumber,

RoboRIO/src/main/resources/calcifer_map.yml

@@ -1,5 +1,5 @@
 ---
-doMP: false
+doMP: true
 testMP: false
 leftTestProfile:
     &leftTest
@@ -83,12 +83,13 @@ arcadeOI:
                 axis: 0
                 smoothingTimeConstantSecs: 0.04
                 deadband: 0.05
-                inverted: true
+                inverted: false
         fwdThrottle:
             org.usfirst.frc.team449.robot.components.MappedSmoothedThrottle:
                 <<: *rotThrottle
                 '@id': fwdThrottle
                 axis: 5
+                inverted: true
         invertDPad: true
         dPadShift: 0.1
 drive:
@@ -156,7 +157,7 @@ drive:
             module: 15
             forward: 2
             reverse: 3
-        startingGear: HIGH
+        startingGear: LOW
 defaultDriveCommand:
     org.usfirst.frc.team449.robot.drive.talonCluster.commands.ShiftingUnidirectionalNavXDefaultDrive:
         '@id': defaultDriveCommand