Code Clarity

[OroArmor]

Overall:

• [ ] Make sure you have consistent naming
• [ ] Code formatting would increase readability
• [ ] Make sure that methods are being used, or remove unnecessary functions
• [ ] Make sure that commands don't implement loggable
• [ ] Consider creating a simple way to get the limelight data instead of calling NetworkTableInstance.getDefault().getTable("limelight").getEntry("param").set(val) every time
• [ ] Use consistent types, i.e. double or Double, not both

https://github.com/6391-Ursuline-Bearbotics/2020_UARobotics_Infinite_Recharge/blob/09c9c3baa37dc89dd5b4661b4605c208c920fbed/src/main/java/frc/robot/Robot.java#L106-L112

• [ ] This code is written twice in teleopInit() and autoInit(). Consider making it one function
• [ ] This code has both setters and direct assignments. Consider making the direct assignments into setters
• [ ] Method names should start with a lowercase, and then be camel case for other words.

https://github.com/6391-Ursuline-Bearbotics/2020_UARobotics_Infinite_Recharge/blob/09c9c3baa37dc89dd5b4661b4605c208c920fbed/src/main/java/frc/robot/subsystems/Limelight.java#L36-L41

• [ ] This code is written both in the constructor and in class initialization. This just causes extra startup computation

https://github.com/6391-Ursuline-Bearbotics/2020_UARobotics_Infinite_Recharge/blob/09c9c3baa37dc89dd5b4661b4605c208c920fbed/src/main/java/frc/robot/subsystems/Limelight.java#L66-L70

• [ ] Variables are created from constants, the constant should just be included in the computation.

https://github.com/6391-Ursuline-Bearbotics/2020_UARobotics_Infinite_Recharge/blob/09c9c3baa37dc89dd5b4661b4605c208c920fbed/src/main/java/frc/robot/subsystems/Limelight.java#L127

• [ ] This should be refactored into a command, and shouldn't be using a while loop as they stop other processes on the robot

Overall, I felt the code was very strong, but the visual aesthetic made the code hard to understand. Cleaning this up for future years could increase productivity and reduce bugs.