From 464210910662e632482262b1a3ba665a633c7c3d Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Sat, 27 Apr 2024 12:59:52 -0400
Subject: [PATCH] refactor: Clean up robot constants.

---
 src/main/java/frc/robot/RobotConstants.java   | 23 +++-------------
 .../SuperstructureMechanism.java              | 26 +++++++++----------
 2 files changed, 16 insertions(+), 33 deletions(-)

diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
index 37dd4d4..5cf5189 100644
--- a/src/main/java/frc/robot/RobotConstants.java
+++ b/src/main/java/frc/robot/RobotConstants.java
@@ -1,6 +1,5 @@
 package frc.robot;
 
-import edu.wpi.first.math.util.Units;
 import java.util.EnumSet;
 import java.util.Set;
 
@@ -13,22 +12,7 @@ public class RobotConstants {
   /** Duration of each robot periodic call in seconds. */
   public static final double PERIODIC_DURATION = 1.0 / PERIODIC_RATE;
 
-  /** Voltage of the robot's battery, */
-  public static final double BATTERY_VOLTAGE = 12.0;
-
-  /** Distance from the frame perimeter to the origin in meters. */
-  public static final double FRAME_PERIMETER_TO_ORIGIN_DISTANCE = Units.inchesToMeters(14);
-
-  /** Maximum horizontal extension distance in meters. */
-  public static final double MAX_HORIZONTAL_EXTENSION_DISTANCE = Units.feetToMeters(1);
-
-  /** Maximum vertical extension distance in meters. */
-  public static final double MAX_VERTICAL_EXTENSION_DISTANCE = Units.inchesToMeters(48);
-
-  /** If true, provide additional information using telemetry. */
-  public static final boolean USE_TELEMETRY = true;
-
-  /** Robot subsystems. */
+  /** Subsystems. */
   public enum Subsystem {
     ARM,
     INTAKE,
@@ -37,9 +21,8 @@ public enum Subsystem {
     SWERVE,
   }
 
-  public static final Set<Subsystem> ALL_SUBSYSTEMS =
+  /** Real subsystems. */
+  public static final Set<Subsystem> REAL_SUBSYSTEMS =
       EnumSet.of(
           Subsystem.ARM, Subsystem.INTAKE, Subsystem.ODOMETRY, Subsystem.SHOOTER, Subsystem.SWERVE);
-
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = ALL_SUBSYSTEMS;
 }
diff --git a/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java b/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
index b75a9c6..6fb1182 100644
--- a/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
+++ b/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
@@ -8,7 +8,6 @@
 import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
-import frc.robot.RobotConstants;
 
 /** Superstructure mechanism renderer. */
 public class SuperstructureMechanism {
@@ -22,14 +21,21 @@ public class SuperstructureMechanism {
   /** Superstructure mechanism ligaments. */
   private MechanismLigament2d shoulder, flywheel, serializer, rollers;
 
+  /** Distance from the frame perimeter to the origin in meters. */
+  public static final double FRAME_PERIMETER_TO_ORIGIN_DISTANCE = Units.inchesToMeters(14);
+
+  /** Maximum horizontal extension distance in meters. */
+  public static final double MAX_HORIZONTAL_EXTENSION_DISTANCE = Units.feetToMeters(1);
+
+  /** Maximum vertical extension distance in meters. */
+  public static final double MAX_VERTICAL_EXTENSION_DISTANCE = Units.inchesToMeters(48);
+
   /** Superstructure mechanism width. */
   private final double WIDTH =
-      2
-          * (RobotConstants.FRAME_PERIMETER_TO_ORIGIN_DISTANCE
-              + RobotConstants.MAX_HORIZONTAL_EXTENSION_DISTANCE);
+      2 * (FRAME_PERIMETER_TO_ORIGIN_DISTANCE + MAX_HORIZONTAL_EXTENSION_DISTANCE);
 
   /** Superstructure mechanism height. */
-  private final double HEIGHT = RobotConstants.MAX_VERTICAL_EXTENSION_DISTANCE;
+  private final double HEIGHT = MAX_VERTICAL_EXTENSION_DISTANCE;
 
   /** Superstructure mechanism origin (horizontally centered). */
   private final Translation2d ORIGIN = new Translation2d(WIDTH / 2, 0);
@@ -112,19 +118,13 @@ private SuperstructureMechanism() {
     double framePerimeterThickness = Units.inchesToMeters(1) * 10;
 
     mechanism
-        .getRoot(
-            "framePerimeterLeft",
-            ORIGIN.getX() - RobotConstants.FRAME_PERIMETER_TO_ORIGIN_DISTANCE,
-            0)
+        .getRoot("framePerimeterLeft", ORIGIN.getX() - FRAME_PERIMETER_TO_ORIGIN_DISTANCE, 0)
         .append(
             new MechanismLigament2d(
                 "framePerimeterLeft_", HEIGHT, 90, framePerimeterThickness, DEFAULT_COLOR));
 
     mechanism
-        .getRoot(
-            "framePerimeterRight",
-            ORIGIN.getX() + RobotConstants.FRAME_PERIMETER_TO_ORIGIN_DISTANCE,
-            0)
+        .getRoot("framePerimeterRight", ORIGIN.getX() + FRAME_PERIMETER_TO_ORIGIN_DISTANCE, 0)
         .append(
             new MechanismLigament2d(
                 "framePerimeterRight_", HEIGHT, 90, framePerimeterThickness, DEFAULT_COLOR));