Refactor

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java

@@ -15,7 +15,7 @@
 import org.usfirst.frc.team449.robot.other.MotionProfileData;
 import org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited;
 import org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated;
-import org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter;
+import org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple;
 import org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork;
 import org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics;
@@ -75,7 +75,7 @@ public class RobotMap2017 {
 	 * The multiSubsystem for shooting fuel. Can be null.
 	 */
 	@Nullable
-	private final LoggingShooter shooter;
+	private final LoggingFlywheel shooter;
 
 	/**
 	 * The cameras on this robot. Can be null.
@@ -268,7 +268,7 @@ public RobotMap2017(@Nullable @JsonProperty(required = true) List<CommandButton>
 	                    @NotNull @JsonProperty(required = true) YamlCommand defaultDriveCommand,
 	                    @NotNull @JsonProperty(required = true) MappedRunnable updater,
 	                    @Nullable ClimberCurrentLimited climber,
-	                    @Nullable LoggingShooter shooter,
+	                    @Nullable LoggingFlywheel shooter,
 	                    @Nullable CameraNetwork camera,
 	                    @Nullable IntakeFixedAndActuated intake,
 	                    @Nullable Pneumatics pneumatics,
@@ -371,7 +371,7 @@ public ClimberCurrentLimited getClimber() {
 	 * @return The multiSubsystem for shooting fuel. Can be null.
 	 */
 	@Nullable
-	public LoggingShooter getShooter() {
+	public LoggingFlywheel getShooter() {
 		return shooter;
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.java

@@ -29,8 +29,8 @@ public class Auto2017Boiler extends YamlCommandGroupWrapper {
 	 * @param allianceSwitch            The switch indicating which alliance we're on.
 	 * @param runRedPegToKeyProfile     The command for moving from the peg to the key, on the red side of the field.
 	 * @param runBluePegToKeyProfile    The command for moving from the peg to the key, on the blue side of the field.
-	 * @param spinUpShooter             The command for revving up the shooter. Can be null.
-	 * @param fireShooter               The command for firing the shooter. Can be null.
+	 * @param spinUpShooter             The command for revving up the flywheel. Can be null.
+	 * @param fireShooter               The command for firing the flywheel. Can be null.
 	 * @param waitBetweenProfilesMillis How long to wait between each motion profile. Defaults to 50 if less than 50.
 	 */
 	@JsonCreator

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.java

@@ -7,11 +7,11 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands.TurnAllOn;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn;
 
 /**
- * Command group for firing the shooter. Runs flywheel, runs static intake, stops dynamic intake, raises intake, and
+ * Command group for firing the flywheel. Runs flywheel, runs static intake, stops dynamic intake, raises intake, and
  * runs feeder.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
@@ -20,14 +20,14 @@ public class FireShooter extends YamlCommandGroupWrapper {
 	/**
 	 * Constructs a FireShooter command group
 	 *
-	 * @param subsystemShooter shooter subsystem. Can be null.
+	 * @param subsystemFlywheel flywheel subsystem. Can be null.
 	 * @param subsystemIntake  intake subsystem. Can be null.
 	 */
 	@JsonCreator
-	public FireShooter(@Nullable SubsystemShooter subsystemShooter,
+	public FireShooter(@Nullable SubsystemFlywheel subsystemFlywheel,
 	                   @Nullable SubsystemIntake subsystemIntake) {
-		if (subsystemShooter != null) {
-			addParallel(new TurnAllOn(subsystemShooter));
+		if (subsystemFlywheel != null) {
+			addParallel(new TurnAllOn(subsystemFlywheel));
 		}
 		if (subsystemIntake != null) {
 			addParallel(new SetIntakeMode(subsystemIntake, SubsystemIntake.IntakeMode.IN_SLOW));

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.java

@@ -5,10 +5,10 @@
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands.TurnAllOff;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse;
 
@@ -22,14 +22,14 @@ public class LoadShooter <T extends SubsystemIntake & SubsystemSolenoid> extends
 	/**
 	 * Constructs a LoadShooter command group
 	 *
-	 * @param subsystemShooter shooter subsystem. Can be null.
+	 * @param subsystemFlywheel flywheel subsystem. Can be null.
 	 * @param subsystemIntake  intake subsystem. Can be null.
 	 */
 	@JsonCreator
-	public LoadShooter(@Nullable SubsystemShooter subsystemShooter,
+	public LoadShooter(@Nullable SubsystemFlywheel subsystemFlywheel,
 	                   @Nullable T subsystemIntake) {
-		if (subsystemShooter != null) {
-			addParallel(new TurnAllOff(subsystemShooter));
+		if (subsystemFlywheel != null) {
+			addParallel(new TurnAllOff(subsystemFlywheel));
 		}
 		if (subsystemIntake != null) {
 			addParallel(new SolenoidReverse(subsystemIntake));

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.java

@@ -5,15 +5,15 @@
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands.SpinUpShooter;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse;
 
 /**
- * Command group for preparing the shooter to fire. Starts flywheel, runs static intake, stops dynamic intake, raises
+ * Command group for preparing the flywheel to fire. Starts flywheel, runs static intake, stops dynamic intake, raises
  * intake, and stops feeder.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
@@ -22,14 +22,14 @@ public class RackShooter <T extends SubsystemIntake & SubsystemSolenoid> extends
 	/**
 	 * Constructs a RackShooter command group
 	 *
-	 * @param subsystemShooter shooter subsystem. Can be null.
+	 * @param subsystemFlywheel flywheel subsystem. Can be null.
 	 * @param subsystemIntake  intake subsystem. Can be null.
 	 */
 	@JsonCreator
-	public RackShooter(@Nullable SubsystemShooter subsystemShooter,
+	public RackShooter(@Nullable SubsystemFlywheel subsystemFlywheel,
 	                   @Nullable T subsystemIntake) {
-		if (subsystemShooter != null) {
-			addParallel(new SpinUpShooter(subsystemShooter));
+		if (subsystemFlywheel != null) {
+			addParallel(new SpinUpFlywheel(subsystemFlywheel));
 		}
 		if (subsystemIntake != null) {
 			addParallel(new SolenoidReverse(subsystemIntake));

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.java

@@ -7,8 +7,8 @@
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands.TurnAllOff;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid;
 import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse;
 
@@ -21,14 +21,14 @@ public class ResetShooter <T extends SubsystemIntake & SubsystemSolenoid> extend
 	/**
 	 * Constructs a ResetShooter command group
 	 *
-	 * @param subsystemShooter shooter subsystem. Can be null.
+	 * @param subsystemFlywheel flywheel subsystem. Can be null.
 	 * @param subsystemIntake  intake subsystem. Can be null.
 	 */
 	@JsonCreator
-	public ResetShooter(@Nullable SubsystemShooter subsystemShooter,
+	public ResetShooter(@Nullable SubsystemFlywheel subsystemFlywheel,
 	                    @Nullable T subsystemIntake) {
-		if (subsystemShooter != null) {
-			addParallel(new TurnAllOff(subsystemShooter));
+		if (subsystemFlywheel != null) {
+			addParallel(new TurnAllOff(subsystemFlywheel));
 		}
 		if (subsystemIntake != null) {
 			addParallel(new SolenoidReverse(subsystemIntake));

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java

@@ -43,7 +43,7 @@ public class DriveTalonCluster extends YamlSubsystem implements SubsystemAHRS, D
 	 * The NavX gyro
 	 */
 	@NotNull
-	private final MappedAHRS navX;
+	private final MappedAHRS ahrs;
 
 	/**
 	 * Whether or not to use the NavX for driving straight
@@ -62,20 +62,20 @@ public class DriveTalonCluster extends YamlSubsystem implements SubsystemAHRS, D
 	 *
 	 * @param leftMaster  The master talon on the left side of the drive.
 	 * @param rightMaster The master talon on the right side of the drive.
-	 * @param navX        The NavX gyro for calculating this drive's heading and angular velocity.
+	 * @param ahrs        The NavX gyro for calculating this drive's heading and angular velocity.
 	 * @param VelScale    The amount to scale the output to the motor by. Defaults to 1.
 	 */
 	@JsonCreator
 	public DriveTalonCluster(@NotNull @JsonProperty(required = true) FPSTalon leftMaster,
 	                         @NotNull @JsonProperty(required = true) FPSTalon rightMaster,
-	                         @NotNull @JsonProperty(required = true) MappedAHRS navX,
+	                         @NotNull @JsonProperty(required = true) MappedAHRS ahrs,
 	                         @Nullable Double VelScale) {
 		super();
 		//Initialize stuff
 		this.VEL_SCALE = VelScale != null ? VelScale : 1.;
 		this.rightMaster = rightMaster;
 		this.leftMaster = leftMaster;
-		this.navX = navX;
+		this.ahrs = ahrs;
 		this.overrideGyro = false;
 	}
 
@@ -223,7 +223,7 @@ public void setDefaultCommandManual(Command defaultCommand) {
 	 */
 	@Override
 	public double getHeading() {
-		return navX.getHeading();
+		return ahrs.getHeading();
 	}
 
 	/**
@@ -233,7 +233,7 @@ public double getHeading() {
 	 */
 	@Override
 	public void setHeading(double heading) {
-		navX.setHeading(heading);
+		ahrs.setHeading(heading);
 	}
 
 	/**
@@ -253,7 +253,7 @@ public double getHeadingCached() {
 	 */
 	@Override
 	public double getAngularVel() {
-		return navX.getAngularVelocity();
+		return ahrs.getAngularVelocity();
 	}
 
 	/**
@@ -273,7 +273,7 @@ public double getAngularVelCached() {
 	 */
 	@Override
 	public double getAngularDisplacement() {
-		return navX.getAngularVelocity();
+		return ahrs.getAngularVelocity();
 	}
 
 	/**
@@ -352,11 +352,11 @@ public Object[] getData() {
 				leftMaster.getError(),
 				rightMaster.getError(),
 				cachedHeading,
-				navX.get9AxisHeading(),
+				ahrs.get9AxisHeading(),
 				cachedAngularVel,
 				cachedAngularDisplacement,
-				navX.getXAccel(),
-				navX.getYAccel()};
+				ahrs.getXAccel(),
+				ahrs.getYAccel()};
 	}
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java → RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingFlywheel.java

@@ -9,13 +9,13 @@
 import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor;
 import org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
-import org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter;
+import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel;
 
 /**
  * A flywheel multiSubsystem with a single flywheel and a single-motor feeder system.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class LoggingShooter extends YamlSubsystem implements Loggable, SubsystemShooter {
+public class LoggingFlywheel extends YamlSubsystem implements Loggable, SubsystemFlywheel {
 
 	/**
 	 * The flywheel's Talon
@@ -48,7 +48,7 @@ public class LoggingShooter extends YamlSubsystem implements Loggable, Subsystem
 	 * Whether the flywheel is currently commanded to spin
 	 */
 	@NotNull
-	private ShooterState state;
+	private FlywheelState state;
 
 	/**
 	 * Default constructor
@@ -61,16 +61,16 @@ public class LoggingShooter extends YamlSubsystem implements Loggable, Subsystem
 	 *                        Defaults to 0.
 	 */
 	@JsonCreator
-	public LoggingShooter(@NotNull @JsonProperty(required = true) FPSTalon shooterTalon,
-	                      @JsonProperty(required = true) double shooterThrottle,
-	                      @NotNull @JsonProperty(required = true) SimpleMotor feederMotor,
-	                      @JsonProperty(required = true) double feederThrottle,
-	                      double spinUpTimeSecs) {
+	public LoggingFlywheel(@NotNull @JsonProperty(required = true) FPSTalon shooterTalon,
+	                       @JsonProperty(required = true) double shooterThrottle,
+	                       @NotNull @JsonProperty(required = true) SimpleMotor feederMotor,
+	                       @JsonProperty(required = true) double feederThrottle,
+	                       double spinUpTimeSecs) {
 		this.shooterTalon = shooterTalon;
 		this.shooterThrottle = shooterThrottle;
 		this.feederMotor = feederMotor;
 		this.feederThrottle = feederThrottle;
-		state = ShooterState.OFF;
+		state = FlywheelState.OFF;
 		spinUpTime = (long) (spinUpTimeSecs * 1000.);
 	}
 
@@ -127,7 +127,7 @@ public String getName() {
 	 * Turn the multiSubsystem on to a map-specified speed.
 	 */
 	@Override
-	public void turnShooterOn() {
+	public void turnFlywheelOn() {
 		shooterTalon.enable();
 		shooterTalon.setVelocity(shooterThrottle);
 	}
@@ -136,7 +136,7 @@ public void turnShooterOn() {
 	 * Turn the multiSubsystem off.
 	 */
 	@Override
-	public void turnShooterOff() {
+	public void turnFlywheelOff() {
 		shooterTalon.disable();
 	}
 
@@ -162,15 +162,15 @@ public void turnFeederOff() {
 	 */
 	@NotNull
 	@Override
-	public ShooterState getShooterState() {
+	public FlywheelState getFlywheelState() {
 		return state;
 	}
 
 	/**
 	 * @param state The state to switch the multiSubsystem to.
 	 */
 	@Override
-	public void setShooterState(@NotNull ShooterState state) {
+	public void setFlywheelState(@NotNull FlywheelState state) {
 		this.state = state;
 	}