javadocs setup maybe

Author: studentkrisk

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

@@ -60,7 +60,7 @@ public static final class RobotConstants {
         public static final double ENCODER_TO_DEGREES = 5.0;
         public static final double DRIVE_GEAR_RATIO = 18.0;
         public static final double WHEEL_DIAMETER = 7.5;
-        public static final double WHEEL_BASE_WIDTH = 30.0;
+        public static final double WHEEL_BASE_WIDTH = 35.0;
         public static final double CANNON_PITCH_ZERO = 38;
     }
 }

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

@@ -51,7 +51,7 @@ public RobotContainer() {
         () -> m_driveTrain.tankDrive(
           -m_mainStick.getRawAxis(1),
           m_mainStick.getRawAxis(4),
-          0.15),
+          0.25),
         m_driveTrain)
       );
   }
@@ -99,8 +99,8 @@ private void configureButtonBindings() {
     //   .and(new JoystickButton(m_mainStick, Constants.OIConstants.LB))
     //   .onTrue(new InstantCommand(() -> m_cannon.shoot(1)));
 
-    new JoystickButton(m_mainStick, Constants.OIConstants.RB)
-      .onTrue(new Turn(m_driveTrain, 45));
+    // new JoystickButton(m_mainStick, Constants.OIConstants.RB)
+    //   .onTrue(new Turn(m_driveTrain, 45));
 
 
     new Trigger(() -> m_mainStick.getRawAxis(5) > 0.9)

src/main/java/frc/robot/commands/Turn.java

@@ -40,19 +40,19 @@ public void initialize() {
     pid = new PIDController(0.3, 0, 0);
     filter = new SlewRateLimiter(1);
     SmartDashboard.putString("Test2", "Started");
-    target = m_drive.getMiddleEncoder() + ((m_angle / 360.0) * (RobotConstants.WHEEL_BASE_WIDTH / RobotConstants.WHEEL_DIAMETER) * RobotConstants.DRIVE_GEAR_RATIO);
+    target = m_drive.getRightEncoder() + ((m_angle / 360.0) * (RobotConstants.WHEEL_BASE_WIDTH / RobotConstants.WHEEL_DIAMETER) * RobotConstants.DRIVE_GEAR_RATIO);
     pid.setSetpoint(target);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double z = (pid.calculate(m_drive.getMiddleEncoder()));
+    double z = (pid.calculate(m_drive.getRightEncoder()));
     if (Math.abs(z) > 1) z = 1 * Math.signum(z);
     z = filter.calculate(z);
     m_drive.tankDrive(0.0, z, 0);
     SmartDashboard.putNumber("Turn Command Setpoint", target);
-    SmartDashboard.putNumber("Turn Command PID", pid.calculate(m_drive.getMiddleEncoder()));
+    SmartDashboard.putNumber("Turn Command PID", pid.calculate(m_drive.getRightEncoder()));
     SmartDashboard.putString("Test2", "Running");
 
 

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

@@ -18,6 +18,9 @@
 import frc.robot.Constants.RobotConstants;
 import frc.robot.Constants.PortConstants;
 
+/**
+ * The Subsystem class representing the cannon.
+ */
 public class Cannon extends SubsystemBase {
 	public CANSparkMax m_pM;
 	public Solenoid m_v1, m_v2, m_v3; // TODO: switch to low, med, high
@@ -61,7 +64,8 @@ public void setValves(boolean v1, boolean v2, boolean v3){
 
 
 
-	}	public void shoot(boolean v1, boolean v2, boolean v3){		
+	}	
+	public void shoot(boolean v1, boolean v2, boolean v3){		
 		if (v1) m_v1.startPulse();
 		if (v2) m_v2.startPulse();
 		if (v3) m_v3.startPulse();

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

@@ -71,13 +71,12 @@ public void tankDrive(double x, double z, double speed) {
 
 	}
 
-  public double getMiddleEncoder(){
+  public double getRightEncoder(){
     return m_mR.getEncoder().getPosition();
   }
 
   @Override
   public void periodic() {
-    SmartDashboard.putNumber("RM encoder", getMiddleEncoder());
-    SmartDashboard.putNumber("RM Conversion", m_mR.getEncoder().getPositionConversionFactor());
+    SmartDashboard.putNumber("RM encoder", getRightEncoder());
   }
 }