refactor: Extract constants.

src/main/java/frc/lib/SingleJointedArmFeedforward.java

@@ -54,6 +54,10 @@ public SingleJointedArmFeedforwardConstants withKa(double kA) {
 
   private final SingleJointedArmFeedforwardConstants constants;
 
+  public SingleJointedArmFeedforward() {
+    this.constants = new SingleJointedArmFeedforwardConstants();
+  }
+
   public SingleJointedArmFeedforward(SingleJointedArmFeedforwardConstants constants) {
     this.constants = constants;
   }

src/main/java/frc/robot/arm/ArmConstants.java

@@ -5,7 +5,6 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
-import frc.lib.CAN;
 import frc.lib.JointConstants;
 import frc.lib.MotionProfileCalculator;
 
@@ -14,9 +13,6 @@ public class ArmConstants {
 
   /** Constants for the shoulder motor. */
   public static class ShoulderMotorConstants {
-    /** Shoulder motor CAN. */
-    public static final CAN CAN = new CAN(2);
-
     /** Joint constants for the shoulder joint. */
     public static final JointConstants JOINT_CONSTANTS =
         new JointConstants(
@@ -41,9 +37,6 @@ public static class ShoulderMotorConstants {
     public static final Translation2d SHOULDER_TO_ORIGIN =
         new Translation2d(Units.inchesToMeters(-11.361), Units.inchesToMeters(7.721));
 
-    /** Proportional gain in volts per rotation. */
-    public static final double KP = 36.0;
-
     /** Maximum speed of the shoulder joint in rotations per second. */
     public static final double MAXIMUM_SPEED = 0.5;
 
@@ -61,12 +54,6 @@ public static class ShoulderMotorConstants {
 
   /** Constants for the wrist motor. */
   public static class WristMotorConstants {
-    /** Wrist motor CAN. */
-    public static final CAN CAN = new CAN(1);
-
-    /** If true, invert the motor. */
-    public static final boolean MOTOR_INVERT = true;
-
     /** Joint constants for the wrist joint. */
     public static final JointConstants JOINT_CONSTANTS =
         new JointConstants(
@@ -87,9 +74,6 @@ public static class WristMotorConstants {
     /** Tolerance of the wrist joint. */
     public static final Rotation2d TOLERANCE = Rotation2d.fromDegrees(5.0);
 
-    /** Proportional gain in volts per rotation. */
-    public static final double KP = 36.0;
-
     /** Maximum speed of the wrist joint in rotations per second. */
     public static final double MAXIMUM_SPEED = 1.2;
 

src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java

@@ -8,7 +8,6 @@
 import frc.lib.AccelerationCalculator;
 import frc.lib.Configurator;
 import frc.lib.SingleJointedArmFeedforward;
-import frc.lib.SingleJointedArmFeedforward.SingleJointedArmFeedforwardConstants;
 import frc.robot.arm.ArmConstants.ShoulderMotorConstants;
 
 /** Shoulder motor using a Spark Max. */
@@ -27,11 +26,11 @@ public class ShoulderMotorIOSparkMax implements ShoulderMotorIO {
 
   /** Creates a new shoulder motor using a Spark Max. */
   public ShoulderMotorIOSparkMax() {
-    sparkMax = new CANSparkMax(ShoulderMotorConstants.CAN.id(), MotorType.kBrushless);
+    sparkMax = new CANSparkMax(2, MotorType.kBrushless);
 
-    feedback = new PIDController(ShoulderMotorConstants.KP, 0, 0);
+    feedback = new PIDController(36.0, 0, 0);
 
-    feedforward = new SingleJointedArmFeedforward(new SingleJointedArmFeedforwardConstants());
+    feedforward = new SingleJointedArmFeedforward();
 
     accelerationCalculator = new AccelerationCalculator();
   }

src/main/java/frc/robot/arm/WristMotorIOSparkMax.java

@@ -8,7 +8,6 @@
 import frc.lib.AccelerationCalculator;
 import frc.lib.Configurator;
 import frc.lib.SingleJointedArmFeedforward;
-import frc.lib.SingleJointedArmFeedforward.SingleJointedArmFeedforwardConstants;
 import frc.robot.arm.ArmConstants.WristMotorConstants;
 
 public class WristMotorIOSparkMax implements WristMotorIO {
@@ -27,9 +26,9 @@ public WristMotorIOSparkMax() {
     // TODO Temporary fix, using one of the climber Sparks
     sparkMax = new CANSparkMax(6, MotorType.kBrushless);
 
-    feedback = new PIDController(WristMotorConstants.KP, 0, 0);
+    feedback = new PIDController(36.0, 0, 0);
 
-    feedforward = new SingleJointedArmFeedforward(new SingleJointedArmFeedforwardConstants());
+    feedforward = new SingleJointedArmFeedforward();
 
     accelerationCalculator = new AccelerationCalculator();
   }
@@ -38,7 +37,7 @@ public WristMotorIOSparkMax() {
   public void configure() {
     Configurator.configureREV(sparkMax::restoreFactoryDefaults);
 
-    sparkMax.setInverted(WristMotorConstants.MOTOR_INVERT);
+    sparkMax.setInverted(true);
 
     Configurator.configureREV(() -> sparkMax.setIdleMode(IdleMode.kBrake));
 

src/main/java/frc/robot/intake/IntakeConstants.java

@@ -3,7 +3,6 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
-import frc.lib.CAN;
 import frc.lib.MotionProfileCalculator;
 import frc.lib.MotorCurrentLimits;
 
@@ -12,9 +11,6 @@ public class IntakeConstants {
 
   /** Constants for the pivot motor. */
   public static class PivotMotorConstants {
-    /** Pivot motor's CAN identifier. */
-    public static final CAN CAN = new CAN(8);
-
     /** If true, invert the pivot motor. */
     public static final boolean IS_MOTOR_INVERTED = false;
 
@@ -58,19 +54,10 @@ public static class PivotMotorConstants {
 
     /** Motion profile of the pivot using constraints. */
     public static final TrapezoidProfile MOTION_PROFILE = new TrapezoidProfile(CONSTRAINTS);
-
-    /** Proportional gain of the arm in volts per rotation. */
-    public static final double KP = 16.0;
   }
 
   /** Constants for the roller motor. */
   public static class RollerMotorConstants {
-    /** Roller motor's CAN identifier. */
-    public static final CAN CAN = new CAN(5);
-
-    /** If true, invert the roller motor. */
-    public static final boolean IS_INVERTED = false;
-
     /** Gearing between the roller motor and the rollers. */
     public static final double GEARING = 4.5;
 

src/main/java/frc/robot/intake/PivotMotorIOTalonSRX.java

@@ -21,9 +21,9 @@ public class PivotMotorIOTalonSRX implements PivotMotorIO {
   private final SingleJointedArmFeedforward feedforward;
 
   public PivotMotorIOTalonSRX() {
-    talonSRX = new TalonSRX(PivotMotorConstants.CAN.id());
+    talonSRX = new TalonSRX(8);
 
-    feedback = new PIDController(PivotMotorConstants.KP, 0, 0);
+    feedback = new PIDController(16.0, 0, 0);
 
     SingleJointedArmFeedforwardConstants constants =
         new SingleJointedArmFeedforwardConstants().withKg(Rotation2d.fromDegrees((26)), 1.8);

src/main/java/frc/robot/intake/RollerMotorIOSparkMax.java

@@ -12,14 +12,14 @@ public class RollerMotorIOSparkMax implements RollerMotorIO {
   private final CANSparkMax sparkMax;
 
   public RollerMotorIOSparkMax() {
-    sparkMax = new CANSparkMax(RollerMotorConstants.CAN.id(), MotorType.kBrushless);
+    sparkMax = new CANSparkMax(5, MotorType.kBrushless);
   }
 
   @Override
   public void configure() {
     Configurator.configureREV(sparkMax::restoreFactoryDefaults);
 
-    sparkMax.setInverted(RollerMotorConstants.IS_INVERTED);
+    sparkMax.setInverted(false);
 
     Configurator.configureREV(
         () ->