Drive train

[Mika4239]

No description provided.

[barakshelef]

For better code structure avoid accessing Robot objects such as joysticks. Create a clear structure:
Robot --registers--> Commands --call--> Subsystems --runs--> SpeedControllers
One way to do this is by creating a supplier like so:

Suggested change

	Robot.driveTrain.setBothPrecent(Robot.joysticks.getLeftY(), Robot.joysticks.getRightY());
	// in the constructor:
	public TankDrive(DoubleSupplier leftSupplier, DoubleSupplier rightSupplier) {
	this.leftSupplier = leftSupplier;
	this.rightSupplier = rightSupplier;
	...
	Robot.driveTrain.setBothPrecent(leftSupplier.getAsDouble(), rightSupplier.getAsDouble());

where you create a DoubleSupplier from any function that returns a double like so:

// in Robot.java
DoubleSupplier leftSupplier = joysticks::getLeftY;
DoubleSupplier rightSupplier = joysticks::getRightY;
... new TankDrive(leftSupplier, rightSupplier);

[barakshelef]

don't forget Y inversion

[barakshelef]

followers should be configured to follow whatever inversion their master has. To avoid a case where 2 motors in the same gearbox spin against each other because of a bad configuration.

[barakshelef]

avoid creating public methods. You don't want someone to misuse your subsystem.

Suggested change

	public void setRightPercent(double percentage){
	private void setRightPercent(double percentage){

[barakshelef]

Avoid creating methods which aren't used.

Suggested change

	public void setDistance(double distanceR, double distanceL) {
	this._talonL.set(ControlMode.Position, distanceR);
	this._talonL.set(ControlMode.Position, distanceL);
	}

If there are plans to use it in the future -- leave it in the future branch where we will test it.

[barakshelef]

again... aren't used...

Suggested change

	public double getLeftX(){
	return this._leftJoystick.getX();
	}

[barakshelef]

Use overloading to achieve the same method with different inputs:

Suggested change

	public void setBothPercent(double percentageL, double percentageR){
	setRightPercent(percentageR);
	setLeftPercent(percentageL);
	}
	public void setpercent(double percentage){
	setRightPercent(percentage);
	setLeftPercent(percentage);
	}
	public void setPercent(double percentageL, double percentageR){
	setRightPercent(percentageR);
	setLeftPercent(percentageL);
	}
	public void setPercent(double percentage){
	setPercent(percentage, percentage)
	}

this reduces code duplication and improves readability

[barakshelef]

you never initialize Joysticks

[barakshelef]

you never initialize DriveTrain. instead you init it in as m_exampleSubsystem in the RobotContainer

[barakshelef]

Is there any other possible ID?

Suggested change

	public static final int TALONR_ID = 1;
	public static final int ID = 1;

this would make the usage cleaner:

constants.DriveTrain.TalonR.ID
//instead of
constants.DriveTrain.TalonR.TALONR_ID

which is a bit redundant