frc1418 / 2017-robot

:robot: Team 1418's FRC robot code for the 2017 season

MIT License

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Cleanup Ideas #53

Closed ArchdukeTim closed 7 years ago

ArchdukeTim commented 7 years ago

my_pid_base.py

[x] Change my_pid_base.py to basePIDcomponent.py. my_pid_base doesn't really make sense.
[ ] scaled_output calculation is either wrong or poorly named. Comments = clarification
[ ] Setting _has_setpoint to False after each iteration of execute doesn't seem...intuitive. It would make more sense to set to false if error is within a threshold. But I understand you check how close it is in another method.

angle_controller.py

[x] I think it would be neater and easier to implement changes if is_aligned called is_aligned_to(self.setpoint)
[ ] Not so much code specifically as theory, but I wonder if there is a way to get the same values for rotating when standing still as when moving.

auto_align.py

[x] Remove end()

field_centric.py

[x] fwdX and fwdY should be swapped to make sense. cos(X) measures adjacent to, and since an angle of 0 is in the +Y direction, cos should be applied to fwdY.

global_position_controller.py

[x] delete this.

robot.py

[x] I don't think you should invert the X axis. Left is -1 and right is +1 automatically.
[x] move(x, y, rcw) should be move(y, x, rcw)
[x] When setting the gimbal and yaw, the scaling should happen in the setter to make it easier to change each setting in more than one place

swervemodule.py

[x] Remove print statement in is_aligned

Add Docstrings

ArchdukeTim commented 7 years ago

Do these things and you should be ready to publicize @ErikBoesen @CarterFendley