Remove DriveConstants static imports

Epsilon10 · Oct 27, 2018 · 8e19e84 · 8e19e84
1 parent 1e45908
commit 8e19e84
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Showing 8 changed files with 21 additions and 43 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveBase.java
@@ -9,12 +9,6 @@
 import com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints;
 import com.acmerobotics.roadrunner.trajectory.constraints.MecanumConstraints;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.BASE_CONSTRAINTS;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.TRACK_WIDTH;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kA;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kStatic;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
-
 public abstract class SampleMecanumDriveBase extends MecanumDrive {
     public static PIDCoefficients TRANSLATIONAL_PID = new PIDCoefficients(0, 0, 0);
     public static PIDCoefficients HEADING_PID = new PIDCoefficients(0, 0, 0);
@@ -24,10 +18,11 @@ public abstract class SampleMecanumDriveBase extends MecanumDrive {
     private TrajectoryFollower follower;
 
     public SampleMecanumDriveBase() {
-        super(TRACK_WIDTH);
+        super(DriveConstants.TRACK_WIDTH);
 
-        constraints = new MecanumConstraints(BASE_CONSTRAINTS, TRACK_WIDTH);
-        follower = new MecanumPIDVAFollower(this, TRANSLATIONAL_PID, HEADING_PID, kV, kA, kStatic);
+        constraints = new MecanumConstraints(DriveConstants.BASE_CONSTRAINTS, DriveConstants.TRACK_WIDTH);
+        follower = new MecanumPIDVAFollower(this, TRANSLATIONAL_PID, HEADING_PID,
+                DriveConstants.kV, DriveConstants.kA, DriveConstants.kStatic);
     }
 
     public TrajectoryBuilder trajectoryBuilder() {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveOptimized.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveOptimized.java
@@ -18,8 +18,6 @@
 import java.util.Arrays;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 public class SampleMecanumDriveOptimized extends SampleMecanumDriveBase {
     private ExpansionHubEx hub;
     private ExpansionHubMotor leftFront, leftRear, rightRear, rightFront;
@@ -88,7 +86,7 @@ public List<Double> getWheelPositions() {
         RevBulkData bulkData = hub.getBulkInputData();
         List<Double> wheelPositions = new ArrayList<>();
         for (ExpansionHubMotor motor : motors) {
-            wheelPositions.add(encoderTicksToInches(bulkData.getMotorCurrentPosition(motor)));
+            wheelPositions.add(DriveConstants.encoderTicksToInches(bulkData.getMotorCurrentPosition(motor)));
         }
         return wheelPositions;
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveSimple.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveSimple.java
@@ -14,8 +14,6 @@
 import java.util.Arrays;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 public class SampleMecanumDriveSimple extends SampleMecanumDriveBase {
     private DcMotorEx leftFront, leftRear, rightRear, rightFront;
     private List<DcMotorEx> motors;
@@ -76,7 +74,7 @@ public void setPIDFCoefficients(DcMotor.RunMode runMode, PIDFCoefficients coeffi
     public List<Double> getWheelPositions() {
         List<Double> wheelPositions = new ArrayList<>();
         for (DcMotorEx motor : motors) {
-            wheelPositions.add(encoderTicksToInches(motor.getCurrentPosition()));
+            wheelPositions.add(DriveConstants.encoderTicksToInches(motor.getCurrentPosition()));
         }
         return wheelPositions;
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveBase.java
@@ -10,12 +10,6 @@
 import com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints;
 import com.acmerobotics.roadrunner.trajectory.constraints.TankConstraints;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.BASE_CONSTRAINTS;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.TRACK_WIDTH;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kA;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kStatic;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
-
 @Config
 public abstract class SampleTankDriveBase extends TankDrive {
     public static PIDCoefficients DISPLACEMENT_PID = new PIDCoefficients(0, 0, 0);
@@ -26,10 +20,11 @@ public abstract class SampleTankDriveBase extends TankDrive {
     private TrajectoryFollower follower;
 
     public SampleTankDriveBase() {
-        super(TRACK_WIDTH);
+        super(DriveConstants.TRACK_WIDTH);
 
-        constraints = new TankConstraints(BASE_CONSTRAINTS, TRACK_WIDTH);
-        follower = new TankPIDVAFollower(this, DISPLACEMENT_PID, CROSS_TRACK_PID, kV, kA, kStatic);
+        constraints = new TankConstraints(DriveConstants.BASE_CONSTRAINTS, DriveConstants.TRACK_WIDTH);
+        follower = new TankPIDVAFollower(this, DISPLACEMENT_PID, CROSS_TRACK_PID,
+                DriveConstants.kV, DriveConstants.kA, DriveConstants.kStatic);
     }
 
     public TrajectoryBuilder trajectoryBuilder() {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveOptimized.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveOptimized.java
@@ -17,8 +17,6 @@
 import java.util.Arrays;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 public class SampleTankDriveOptimized extends SampleTankDriveBase {
     private ExpansionHubEx hub;
     private List<ExpansionHubMotor> motors, leftMotors, rightMotors;
@@ -87,10 +85,10 @@ public List<Double> getWheelPositions() {
         double leftSum = 0, rightSum = 0;
         RevBulkData bulkData = hub.getBulkInputData();
         for (DcMotorEx leftMotor : leftMotors) {
-            leftSum += encoderTicksToInches(bulkData.getMotorCurrentPosition(leftMotor));
+            leftSum += DriveConstants.encoderTicksToInches(bulkData.getMotorCurrentPosition(leftMotor));
         }
         for (DcMotorEx rightMotor : rightMotors) {
-            rightSum += encoderTicksToInches(bulkData.getMotorCurrentPosition(rightMotor));
+            rightSum += DriveConstants.encoderTicksToInches(bulkData.getMotorCurrentPosition(rightMotor));
         }
         return Arrays.asList(leftSum / leftMotors.size(), rightSum / rightMotors.size());
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveSimple.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveSimple.java
@@ -13,8 +13,6 @@
 import java.util.Arrays;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 public class SampleTankDriveSimple extends SampleTankDriveBase {
     private List<DcMotorEx> motors, leftMotors, rightMotors;
     private BNO055IMU imu;
@@ -77,10 +75,10 @@ public void setPIDFCoefficients(DcMotor.RunMode runMode, PIDFCoefficients coeffi
     public List<Double> getWheelPositions() {
         double leftSum = 0, rightSum = 0;
         for (DcMotorEx leftMotor : leftMotors) {
-            leftSum += encoderTicksToInches(leftMotor.getCurrentPosition());
+            leftSum += DriveConstants.encoderTicksToInches(leftMotor.getCurrentPosition());
         }
         for (DcMotorEx rightMotor : rightMotors) {
-            rightSum += encoderTicksToInches(rightMotor.getCurrentPosition());
+            rightSum += DriveConstants.encoderTicksToInches(rightMotor.getCurrentPosition());
         }
         return Arrays.asList(leftSum / leftMotors.size(), rightSum / rightMotors.size());
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/DriveVelocityPIDTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/DriveVelocityPIDTuner.java
@@ -15,14 +15,12 @@
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.util.RobotLog;
 
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
 import org.firstinspires.ftc.teamcode.drive.SampleMecanumDriveSimple;
 
 import java.util.ArrayList;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.BASE_CONSTRAINTS;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
-
 /*
  * This routine is designed to tune the PIDF coefficients used by the REV Expansion Hubs for closed-
  * loop velocity control. Although it may seem unnecessary, tuning these coefficients is just as
@@ -90,18 +88,18 @@ public void runOpMode() {
                 activeProfile = MotionProfileGenerator.generateMotionProfile(start, goal, new MotionConstraints() {
                     @Override
                     public double maximumVelocity(double v) {
-                        return BASE_CONSTRAINTS.maximumVelocity;
+                        return DriveConstants.BASE_CONSTRAINTS.maximumVelocity;
                     }
 
                     @Override
                     public double maximumAcceleration(double v) {
-                        return BASE_CONSTRAINTS.maximumAcceleration;
+                        return DriveConstants.BASE_CONSTRAINTS.maximumAcceleration;
                     }
                 });
                 profileStartTimestamp = clock.seconds();
             }
             MotionState motionState = activeProfile.get(profileTime);
-            double targetPower = kV * motionState.getV();
+            double targetPower = DriveConstants.kV * motionState.getV();
             drive.setVelocity(new Pose2d(targetPower, 0, 0));
 
             List<Double> wheelPositions = drive.getWheelPositions();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/FeedforwardTuningOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/FeedforwardTuningOpMode.java
@@ -7,15 +7,12 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.apache.commons.math3.stat.regression.SimpleRegression;
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
 import org.firstinspires.ftc.teamcode.drive.SampleMecanumDriveSimple;
 
 import java.util.ArrayList;
 import java.util.List;
 
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.GEAR_RATIO;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_CONFIG;
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.WHEEL_RADIUS;
-
 /*
  * Op mode for computing kV, kStatic, and kA from various drive routines. Note: for those using the
  * built-in PID, **kStatic and kA should not be tuned**. For the curious, here's an outline of the
@@ -94,7 +91,8 @@ public void runOpMode() throws InterruptedException {
         telemetry.log().add("Running...");
         telemetry.update();
 
-        double maxVel = MOTOR_CONFIG.getMaxRPM() * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
+        double maxRpm = DriveConstants.MOTOR_CONFIG.getMaxRPM();
+        double maxVel = maxRpm * DriveConstants.GEAR_RATIO * 2 * Math.PI * DriveConstants.WHEEL_RADIUS / 60.0;
         double finalVel = MAX_POWER * maxVel;
         double accel = (finalVel * finalVel) / (2.0 * DISTANCE);
         double rampTime = Math.sqrt(2.0 * DISTANCE / accel);