refactor: changed terminology

flamingchickens1540 · Feb 11, 2024 · 71034cb · 71034cb
1 parent e31f36b
commit 71034cb
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Showing 10 changed files with 83 additions and 11 deletions.
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.1.traj b/src/main/deploy/choreo/AmpLanePABCSprint.1.traj
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.2.traj b/src/main/deploy/choreo/AmpLanePABCSprint.2.traj
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.3.traj b/src/main/deploy/choreo/AmpLanePABCSprint.3.traj
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.4.traj b/src/main/deploy/choreo/AmpLanePABCSprint.4.traj
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj
diff --git a/src/main/java/org/team1540/robot2024/util/AutoCommand.java b/src/main/java/org/team1540/robot2024/util/AutoCommand.java
@@ -15,7 +15,7 @@ public class AutoCommand extends SequentialCommandGroup {
 
     private List<PathHelper> paths = new ArrayList<>();
 
-    private int index = 0;
+    private int pathIndex = 0;
 
     public AutoCommand(String name){
         this.name = name;
@@ -52,16 +52,16 @@ public List<PathHelper> getPaths() {
         return paths;
     }
 
-    public PathHelper getPath(int index){
-        return paths.get(index);
+    public PathHelper getPath(int pathIndex){
+        return paths.get(pathIndex);
     }
     public PathHelper getNextPath(){
-        return getPath(index++);
+        return getPath(pathIndex++);
     }
-    public int getIndex(){
-        return index;
+    public int getPathIndex(){
+        return pathIndex;
     }
-    public void setIndex(int index){
-        this.index = index;
+    public void setPathIndex(int index){
+        this.pathIndex = index;
     }
 }
diff --git a/src/main/java/org/team1540/robot2024/util/PathHelper.java b/src/main/java/org/team1540/robot2024/util/PathHelper.java
@@ -71,12 +71,12 @@ public PathPlannerPath getPath() {
 
     public Command getCommand(Drivetrain drivetrain, boolean shouldRealign) {
         BooleanSupplier shouldFlip = () -> DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red;
-        Supplier<Pose2d> flippedInitialPose = () -> shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose;
+        Supplier<Pose2d> startingPose = () -> shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose;
         Command command = new ConditionalCommand(
                 AutoBuilder.pathfindThenFollowPath(path, constraints),
                 AutoBuilder.followPath(path),
-                () -> drivetrain.getPose().getTranslation().getDistance((flippedInitialPose.get()).getTranslation()) > 1 && shouldRealign); //TODO tune this distance
-        Command resetCommand = new InstantCommand(() -> drivetrain.setPose(flippedInitialPose.get()));
+                () -> drivetrain.getPose().getTranslation().getDistance((startingPose.get()).getTranslation()) > 1 && shouldRealign); //TODO tune this distance
+        Command resetCommand = new InstantCommand(() -> drivetrain.setPose(startingPose.get()));
         return isResetting ? resetCommand.andThen(command) : command;
     }