For commands, I tried to rename them to better reflect what they do. I've also started trying to migrate away from InstantCommand
s since they're meant to be used in only one place, and we were repeating them. Commands were also moved to the respective folders based on the subsystems they act on, or the utilities folder if they don't act on a subsystem.
In the way of subsystems:
- I removed some unused code from
ShooterSubsystem
, and moved calculations to utilities/ShooterMath.java
(although this file only has one method).
- I tried to document the methods in
DriveSubsystem
more, as well as added odometry back in for use with RAMSETE control.
I haven't really touched the other subsystems yet, but I might in future commits.
We should also definitely test these changes before merging them into main
.
enhancement