Prepare drive subsystem for "brownboxing" #101
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pordonj
requested review from
quangdaon,
Bholoubek,
CuratorAmber and
Mr-Smiggles
quangdaon
reviewed
Dec 10, 2024
| * @param pointingTolerance Tolerance for automatic pointing, in degrees. | ||
| * @param maxVisionPoseOverrideDistance Maximum vision pose difference allowed, in meters. (If the vision pose is too far off, ignore it) | ||
| */ | ||
| public DriveSubsystem( |
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Thoughts on using a builder here? I think that makes creating the subsystem more manageable than having 12 positional args, especially since we can make some optional or group them (e.g. .withPid(p, i, d)). Downside would be that required args wouldn't be checked at compile time. Another thought would be to use an object or several objects that group some params together.
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I like the builder and I think what we can do is make the constructor private and force consumer to use the builder and have some sort of check after construction but before the robot runs that it was "fully built"
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The goal is to get the drive subsystem to a state where in can be pulled out of the 2024 codebase and dropped into the 2025 codebase.
The main thing keeping the 2024 drive subsystem from being encapsulated was dependency on the static
Constants. However the way to encapsulate it was to pass in 12+ values FROM the constants file. I don't know if I am a fan of either@quangdaon
@CuratorAmber
@Bholoubek
@JasonE09
and any other students
I would like your thoughts on this.
NOTES:
SwerveControllerclass to turn joystick values intoChassisSpeedsbut I don't want to "change" how this works until we can experiment with it.