organization

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

Author: dabeycorn

src/main/java/org/frc6423/robot/subsystems/superstructure/arm/ArmPivot.java

@@ -151,7 +151,7 @@ public Command runAngle(DoubleSupplier angleRads) {
    * @return {@link Command}
    */
   public Command runAngle(double angleRads) {
-    return runAngle(() -> angleRads);
+    return this.runAngle(() -> angleRads);
   }
 
   @Override

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

@@ -136,7 +136,7 @@ public void periodic() {
   }
 
   /**
-   * @return true if elevator has been zeroed
+   * @return true if elevator has been homed
    */
   @Logged(name = "Is Zeroed (bool)")
   public boolean isZeroed() {
@@ -206,7 +206,7 @@ public Command runCurrentHoming() {
    * @return {@link Command}
    */
   public Command runExtension(ElevatorState extension) {
-    return runExtension(extension.height);
+    return this.runExtension(extension.height);
   }
 
   /**
@@ -236,7 +236,7 @@ public Command runExtension(DoubleSupplier extensionMeters) {
    * @return {@link Command}
    */
   public Command runExtension(double extensionMeters) {
-    return runExtension(() -> extensionMeters);
+    return this.runExtension(() -> extensionMeters);
   }
 
   @Override

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

@@ -29,9 +29,10 @@
 
 /** Comp bot {@link ElevatorIO} */
 public class ElevatorIOReal implements ElevatorIO {
-  private final TalonFX parent, child;
+  private final TalonFX parent = new TalonFX(PARENT_MOTOR_ID, CANBUS);
+  private final TalonFX child = new TalonFX(CHILD_MOTOR_ID, CANBUS);
 
-  private final TalonFXConfiguration conf;
+  private final TalonFXConfiguration conf = new TalonFXConfiguration();
 
   private final VoltageOut voltReq = new VoltageOut(0.0).withEnableFOC(true);
   private final MotionMagicTorqueCurrentFOC poseReq = new MotionMagicTorqueCurrentFOC(0.0);
@@ -40,11 +41,6 @@ public class ElevatorIOReal implements ElevatorIO {
   private final BaseStatusSignal childPoseSig, childCurrentSig, childTempSig;
 
   public ElevatorIOReal() {
-    parent = new TalonFX(PARENT_MOTOR_ID, CANBUS);
-    child = new TalonFX(CHILD_MOTOR_ID, CANBUS);
-
-    conf = new TalonFXConfiguration();
-
     conf.Audio.BeepOnBoot = true;
     conf.Audio.BeepOnConfig = true;
 
@@ -54,10 +50,10 @@ public ElevatorIOReal() {
     conf.HardwareLimitSwitch.ForwardLimitAutosetPositionEnable = true;
     conf.HardwareLimitSwitch.ForwardLimitAutosetPositionValue = MAX_EXTENSION_HEIGHT.in(Meters);
 
-    conf.CurrentLimits.StatorCurrentLimitEnable = true;
-    conf.CurrentLimits.StatorCurrentLimit = 80.0;
     conf.CurrentLimits.SupplyCurrentLimitEnable = true;
     conf.CurrentLimits.SupplyCurrentLimit = 40.0;
+    conf.CurrentLimits.StatorCurrentLimitEnable = true;
+    conf.CurrentLimits.StatorCurrentLimit = 80.0;
 
     conf.Feedback.SensorToMechanismRatio = SENSOR_TO_MECH_RATIO;
     conf.ClosedLoopRamps.TorqueClosedLoopRampPeriod = 0.1;