refactor: store elevator CAN constants in subsystem class

Signed-off-by: Dasun Abeykoon <[email protected]>

Author: dabeycorn

src/main/java/org/frc6423/robot/subsystems/superstructure/elevator/Elevator.java

@@ -31,12 +31,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.function.DoubleSupplier;
-import org.frc6423.robot.Constants;
 import org.frc6423.robot.Robot;
 
 /** Elevator Subsystem */
 public class Elevator extends SubsystemBase implements AutoCloseable {
   // * CONSTANTS
+  public static final String CANBUS = "CANCHAN";
+  public static final int PARENT_MOTOR_ID = 14;
+  public static final int CHILD_MOTOR_ID = 15;
+
   /** Gear ratio of the elevator gearbox */
   public static final double GEAR_REDUCTION = 3 / 1;
 
@@ -83,23 +86,26 @@ public class Elevator extends SubsystemBase implements AutoCloseable {
       mech2d.getRoot("carriageRoot", (MAX_EXTENSION_HEIGHT.in(Centimeters) / 2) - 2, 0.0);
 
   /**
-   * @return {@link Elevator} subsystem with no hardware
+   * @return fake {@link Elevator} subsystem
    */
   public static Elevator none() {
-    return new Elevator(new ElevatorIONone());
+    if (Robot.isReal()) {
+      return new Elevator(new ElevatorIOReal());
+    } else {
+      return new Elevator(new ElevatorIOSim());
+    }
   }
 
   /**
-   * Factory to create {@link Elevator} subsystem based on whether the robot is simulated or not
+   * Factory for creating a {@link Elevator} subsystem
    *
-   * @return {@link Elevator} subsystem
+   * @return {@link Elevator} Subsystem
    */
   public static Elevator create() {
-    if (Robot.isSimulation()) {
-      return new Elevator(new ElevatorIOSim());
+    if (Robot.isReal()) {
+      return new Elevator(new ElevatorIOReal());
     } else {
-      return new Elevator(
-          new ElevatorIOReal(Constants.Ports.ELEVATOR_PARENT, Constants.Ports.ELEVATOR_CHILD));
+      return new Elevator(new ElevatorIOSim());
     }
   }
 

src/main/java/org/frc6423/robot/subsystems/superstructure/elevator/ElevatorIOReal.java

@@ -8,8 +8,11 @@
 
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
+import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.CANBUS;
+import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.CHILD_MOTOR_ID;
 import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.MAX_ACCELERATION;
 import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.MAX_VELOCITY;
+import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.PARENT_MOTOR_ID;
 import static org.frc6423.robot.subsystems.superstructure.elevator.Elevator.SENSOR_TO_MECH_RATIO;
 
 import com.ctre.phoenix6.BaseStatusSignal;
@@ -21,7 +24,6 @@
 import com.ctre.phoenix6.signals.GravityTypeValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import org.frc6423.lib.types.CanDeviceId;
 
 /** Comp bot {@link ElevatorIO} */
 public class ElevatorIOReal implements ElevatorIO {
@@ -35,9 +37,9 @@ public class ElevatorIOReal implements ElevatorIO {
   private final BaseStatusSignal parentPoseSig, parentCurrentSig, parentTempSig;
   private final BaseStatusSignal childPoseSig, childCurrentSig, childTempSig;
 
-  public ElevatorIOReal(CanDeviceId parentMotorId, CanDeviceId childMotorId) {
-    parent = new TalonFX(parentMotorId.getCanId(), parentMotorId.getBusName());
-    child = new TalonFX(childMotorId.getCanId(), childMotorId.getBusName());
+  public ElevatorIOReal() {
+    parent = new TalonFX(PARENT_MOTOR_ID, CANBUS);
+    child = new TalonFX(CHILD_MOTOR_ID, CANBUS);
 
     conf = new TalonFXConfiguration();