From 220173a989c2bdc1a30098575e945545edaf06a0 Mon Sep 17 00:00:00 2001
From: QuackitsQuinn <quinnweismiller@gmail.com>
Date: Mon, 13 May 2024 16:05:06 -0500
Subject: [PATCH] more tiny fixes

---
 src/main/java/frc/robot/Constants.java                      | 2 ++
 src/main/java/frc/robot/RobotContainer.java                 | 6 +++---
 .../java/frc/robot/commands/SeekTargetWithLimelight.java    | 2 +-
 .../robot/commands/auto/OnePieceAutoButItWorksISwear.java   | 2 +-
 .../java/frc/robot/commands/lightstrip/EnabledLight.java    | 2 +-
 src/main/java/frc/robot/subsystems/Drive.java               | 2 +-
 6 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 4bf1b16..9263586 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -151,7 +151,9 @@ public static class DriveToAmpRed {
       public static final double FORWARD_WAIT_TIME = 0.5;
     }
 
+    /** Constants for the auto that drives bot to center of field. */
     public static class DriveToCenter {
+      /** The time for the robot to drive to the center. */
       public static final double DRIVE_CENTER_WAIT_TIME = 5.0;
     }
   }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f355374..3efc3e2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -392,11 +392,11 @@ public Command getAutonomousCommand() {
   }
 
   /**
-   * Gets the current alliance. Returns null if there is no alliance.
+   * Returns true if the robot is on the red alliance. False otherwise.
    *
-   * @return the current alliance. Nullable.
+   * @return True if the robot is on the red alliance. False otherwise.
    */
-  public static boolean getAlliance() {
+  public static boolean isRedAlliance() {
     Optional<Alliance> alliance = DriverStation.getAlliance();
     if (!alliance.isEmpty()) {
       return alliance.get() == Alliance.Red;
diff --git a/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java b/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
index 20857ea..923d150 100644
--- a/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
+++ b/src/main/java/frc/robot/commands/SeekTargetWithLimelight.java
@@ -51,7 +51,7 @@ public void initialize() {
     this.oldPipelineNumber = limelight.getLimelightPipeline();
     limelight.setLimelightPipeline(seekingPipelineNumber);
 
-    if (RobotContainer.getAlliance()) {
+    if (RobotContainer.isRedAlliance()) {
       this.rotationRadiansPerSecond = rotationRadiansPerSecond * -1;
     }
   }
diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
index a5f3216..35bae2e 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
@@ -22,7 +22,7 @@ public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {
 
-    if (RobotContainer.getAlliance()) {
+    if (RobotContainer.isRedAlliance()) {
       addCommands(new DriveToAmpRed(), new DumpNote());
     } else {
       addCommands(new DriveToAmpBlue(), new DumpNote());
diff --git a/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java b/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
index 4b58b6b..bc1af95 100644
--- a/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
+++ b/src/main/java/frc/robot/commands/lightstrip/EnabledLight.java
@@ -30,7 +30,7 @@ public EnabledLight() {
   @Override
   public void initialize() {
 
-    if (RobotContainer.getAlliance()) {
+    if (RobotContainer.isRedAlliance()) {
       robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_RED_ALLIANCE);
     } else {
       robotLights.setStripColor(Constants.LightStrips.Colors.ENABLE_COLOR_BLUE_ALLIANCE);
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 24194eb..1c21d49 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -79,7 +79,7 @@ public Drive() {
           /* This will flip the path being followed to the red side of the field. */
           /* THE ORIGIN WILL REMAIN ON THE BLUE SIDE */
 
-          return RobotContainer.getAlliance();
+          return RobotContainer.isRedAlliance();
         },
         this /* Reference to this subsystem to set requirements */);
   }