Merge pull request #12 from frc937/initial-formatting

Initial formatting

src/main/java/frc/robot/Constants.java

@@ -19,7 +19,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static class OperatorConstants {
-    public static final int kDriverControllerPort = 0;
+  public static class Controllers {
+    public static final int DRIVER_CONTROLLER_PORT = 0;
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -14,7 +14,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.DriveFieldOriented;
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
@@ -27,26 +26,35 @@ public class RobotContainer {
    * * SUBSYSTEMS *
    * **************
    */
-  private final Drive drive = new Drive();
+
+  /* We declare all subsystems as public static because we don't dependency inject because
+   * injecting a dependency through six or seven commands in a chain of command groups would be
+   * awful.
+   */
+  public static Drive drive = new Drive();
 
   /*
    * ************
    * * COMMANDS *
    * ************
    */
 
+  /* For now, we don't make commands public static, as there isn't really a reason to. */
   private final DriveRobotOriented driveRobotOriented = new DriveRobotOriented(drive);
   private final DriveFieldOriented driveFieldOriented = new DriveFieldOriented(drive);
   private final EnterXMode enterXMode = new EnterXMode(drive);
 
   /*
-   * *****************
-   * * OTHER OBJECTS *
-   * *****************
+   * ***********************
+   * * OTHER INSTANCE VARS *
+   * ***********************
    */
 
-  public static CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
+  /* The CommandXboxController instance must be static to allow the getter methods for its axes
+   * to work.
+   */
+  public static CommandXboxController driverController =
+      new CommandXboxController(Constants.Controllers.DRIVER_CONTROLLER_PORT);
 
   public RobotContainer() {
     configureBindings();
@@ -55,9 +63,9 @@ public RobotContainer() {
   }
 
   private void configureBindings() {
-    m_driverController.leftStick().toggleOnTrue(driveFieldOriented);
+    driverController.leftStick().toggleOnTrue(driveFieldOriented);
 
-    m_driverController.x().onTrue(enterXMode);
+    driverController.x().onTrue(enterXMode);
   }
 
   public Command getAutonomousCommand() {
@@ -70,31 +78,31 @@ public static double scaleAxis(double axis) {
   }
 
   public static double getControllerLeftXAxis() {
-    return m_driverController.getLeftX();
+    return driverController.getLeftX();
   }
 
   public static double getScaledControllerLeftXAxis() {
     return scaleAxis(getControllerLeftXAxis());
   }
 
   public static double getControllerLeftYAxis() {
-    return m_driverController.getLeftY();
+    return driverController.getLeftY();
   }
 
   public static double getScaledControllerLeftYAxis() {
     return scaleAxis(getControllerLeftYAxis());
   }
 
   public static double getControllerRightXAxis() {
-    return m_driverController.getRightX();
+    return driverController.getRightX();
   }
 
   public static double getScaledControllerRightXAxis() {
     return scaleAxis(getControllerRightXAxis());
   }
 
   public static double getControllerRightYAxis() {
-    return m_driverController.getRightY();
+    return driverController.getRightY();
   }
 
   public static double getScaledControllerRightYAxis() {

src/main/java/frc/robot/subsystems/Drive.java

@@ -25,12 +25,14 @@ public class Drive extends SubsystemBase {
 
   /** Creates a new Drive. */
   public Drive() {
+    /* Try-catch because otherwise the compiler tries to anticipate runtime errors and throws a
+     * compiletime error for a missing file even though it shouldn't
+     */
     try {
       drive =
           new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve"))
               .createSwerveDrive(Units.feetToMeters(14.5));
     } catch (IOException e) {
-      // TODO Auto-generated catch block
       e.printStackTrace();
     }
     /* setting the motors to brake mode */