fix duplicated constants

frc937 · May 13, 2024 · bfcf1be · bfcf1be
1 parent 13fe373
commit bfcf1be
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Showing 3 changed files with 10 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -136,22 +136,13 @@ public static class Auto {
     /** Time in seconds that we wait for TaxiLongAuto to end. */
     public static final double TAXI_LONG_WAIT_TIME = 2.0;
 
-    /** Constants for the DriveToAmpBlue auto */
-    public static class DriveToAmpBlue {
-      /** The time for the robot to drive left towards the amp. */
-      public static final double LEFT_WAIT_TIME = 1;
+    /** Constants for the DriveToAmp autos */
+    public static class DriveToAmp {
+      /** The time that the robot spends snapping to the appropriate angle. */
+      public static final double SNAPPING_TIME = 1;
 
-      /** The time for the robot to drive forwards towards the amp. */
-      public static final double FORWARD_WAIT_TIME = 0.5;
-    }
-
-    /** Constants for the DriveToAmpRed auto */
-    public static class DriveToAmpRed {
-      /** The time for the robot to drive left towards the amp. */
-      public static final double LEFT_WAIT_TIME = 1;
-
-      /** The time for the robot to drive forwards towards the amp. */
-      public static final double FORWARD_WAIT_TIME = 0.5;
+      /** The time for the robot to drive towards the amp. */
+      public static final double DRIVE_TO_AMP_TIME = 0.5;
     }
 
     /** Constants for the auto that drives bot to center of field. */

diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
@@ -24,7 +24,7 @@ public class DriveToAmpBlue extends SequentialCommandGroup {
   public DriveToAmpBlue() {
     super(
         new ParallelDeadlineGroup(
-            new WaitCommand(Constants.Auto.DriveToAmpBlue.LEFT_WAIT_TIME),
+            new WaitCommand(Constants.Auto.DriveToAmp.SNAPPING_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 0.0,
@@ -34,7 +34,7 @@ public DriveToAmpBlue() {
                 () -> true,
                 () -> false)),
         new ParallelDeadlineGroup(
-            new WaitCommand(Constants.Auto.DriveToAmpBlue.FORWARD_WAIT_TIME),
+            new WaitCommand(Constants.Auto.DriveToAmp.DRIVE_TO_AMP_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 1.0,

diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
@@ -24,7 +24,7 @@ public class DriveToAmpRed extends SequentialCommandGroup {
   public DriveToAmpRed() {
     super(
         new ParallelDeadlineGroup(
-            new WaitCommand(Constants.Auto.DriveToAmpRed.LEFT_WAIT_TIME),
+            new WaitCommand(Constants.Auto.DriveToAmp.SNAPPING_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> 0.0,
@@ -34,7 +34,7 @@ public DriveToAmpRed() {
                 () -> false,
                 () -> true)),
         new ParallelDeadlineGroup(
-            new WaitCommand(Constants.Auto.DriveToAmpRed.FORWARD_WAIT_TIME),
+            new WaitCommand(Constants.Auto.DriveToAmp.DRIVE_TO_AMP_TIME),
             new DriveFieldOrientedHeadingSnapping(
                 () -> 0.0,
                 () -> -1.0,