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robototes / Crescendo2024

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Cleanup code #117

Closed KangarooKoala closed 3 months ago

KangarooKoala commented 3 months ago

Should fix the errorprone warnings (as well as one from VSCode)

KangarooKoala commented 3 months ago

TODO: Completely remove FullTargetCommand's YAW_TARGET_VIBRATION_TOLERANCE (drive team prefers to go off of visual confirmation for yaw), cleanup driveJoystick() to reduce allocations (specifically inversions). Rest should be good for review though.

KangarooKoala commented 3 months ago

Decided against cleaning up driveJoystick() since it doesn't seem to actually take up a lot of allocations (based on James's earlier testing), plus it would've affected DriveToNoteCommand (maybe for the better, but I'm not sure).