rename Position class to State

Author: kevinzwang

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -12,7 +12,7 @@
 import java.util.Map;
 
 import org.usfirst.frc.team199.Robot2018.autonomous.AutoUtils;
-import org.usfirst.frc.team199.Robot2018.autonomous.Position;
+import org.usfirst.frc.team199.Robot2018.autonomous.State;
 import org.usfirst.frc.team199.Robot2018.commands.Autonomous;
 import org.usfirst.frc.team199.Robot2018.commands.Autonomous.Strategy;
 import org.usfirst.frc.team199.Robot2018.commands.ShiftLowGear;
@@ -166,7 +166,7 @@ public void disabledPeriodic() {
 	@Override
 	public void autonomousInit() {
 		dt.resetAHRS();
-		AutoUtils.position = new Position(0, 0, 0);
+		AutoUtils.state = new State(0, 0, 0);
 		Scheduler.getInstance().add(new ShiftLowGear());
 		String fmsInput = DriverStation.getInstance().getGameSpecificMessage();
 		Autonomous.Position startPos = posChooser.getSelected();

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/AutoUtils.java

@@ -6,7 +6,7 @@
 
 public class AutoUtils {
 
-	public static Position position;
+	public static State state;
 
 	/**
 	 * Parses the inputted script file into a map of scripts

…am199/Robot2018/autonomous/Position.java …/team199/Robot2018/autonomous/State.javaRobot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/Position.java renamed to Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/State.java Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/Position.java renamed to Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/State.java

@@ -1,11 +1,11 @@
 package org.usfirst.frc.team199.Robot2018.autonomous;
 
-public class Position {
+public class State {
 	private double currX;
 	private double currY;
 	private double currRotation;
 
-	public Position(double x, double y, double rot) {
+	public State(double x, double y, double rot) {
 		currX = x;
 		currY = y;
 		currRotation = rot;

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java

@@ -94,8 +94,8 @@ public PIDMove(double[] point, DrivetrainInterface dt, SmartDashboardInterface s
 	 */
 	@Override
 	public void initialize() {
-		double dx = pointX - AutoUtils.position.getX();
-		double dy = pointY - AutoUtils.position.getY();
+		double dx = pointX - AutoUtils.state.getX();
+		double dy = pointY - AutoUtils.state.getY();
 
 		double dist = Math.sqrt(dx * dx + dy * dy); // pythagorean theorem to find distance
 		this.target = dist;
@@ -151,15 +151,15 @@ protected void end() {
 		System.out.println("End");
 		// moveController.free();
 
-		double angle = Math.toRadians(AutoUtils.position.getRot());
+		double angle = Math.toRadians(AutoUtils.state.getRot());
 		double dist = avg.pidGet();
 		// x and y are switched because we are using bearings
 		double y = Math.cos(angle) * dist;
 		double x = Math.sin(angle) * dist;
-		AutoUtils.position.changeX(x);
-		AutoUtils.position.changeY(y);
+		AutoUtils.state.changeX(x);
+		AutoUtils.state.changeY(y);
 
-		AutoUtils.position.setRot(dt.getAHRSAngle());
+		AutoUtils.state.setRot(dt.getAHRSAngle());
 	}
 
 	/**

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java

@@ -144,18 +144,18 @@ protected void initialize() {
 
 		if (!turnToPoint) {
 			if (absoluteRotation) {
-				target -= AutoUtils.position.getRot();
+				target -= AutoUtils.state.getRot();
 			}
 		} else {
-			double dx = pointX - AutoUtils.position.getX();
-			double dy = pointY - AutoUtils.position.getY();
+			double dx = pointX - AutoUtils.state.getX();
+			double dy = pointY - AutoUtils.state.getY();
 
 			System.out.println("x = " + dx + ", y = " + dy);
 
 			// x and y are switched because we are using bearings
 			double absTurn = Math.toDegrees(Math.atan2(dx, dy));
-			target = absTurn - AutoUtils.position.getRot();
-			System.out.println("current bearing = " + AutoUtils.position.getRot());
+			target = absTurn - AutoUtils.state.getRot();
+			System.out.println("current bearing = " + AutoUtils.state.getRot());
 			System.out.println("target bearing = " + target);
 		}
 
@@ -232,7 +232,7 @@ protected void end() {
 		sd.putNumber("Turn PID Error", turnController.getError());
 		// turnController.free();
 
-		AutoUtils.position.setRot(dt.getAHRSAngle());
+		AutoUtils.state.setRot(dt.getAHRSAngle());
 	}
 
 	/**

Robot2018/test/org/usfirst/frc/team199/Robot2018/AutoMoveToTest.java

@@ -91,9 +91,9 @@ protected boolean isFinished() {
 	void testForwardAndRight() {
 		String[] args = { "(0,12)", "(12,12)" };
 
-		AutoUtils.position.setRot(0);
-		AutoUtils.position.setX(0);
-		AutoUtils.position.setY(0);
+		AutoUtils.state.setRot(0);
+		AutoUtils.state.setX(0);
+		AutoUtils.state.setY(0);
 
 		PIDSource pidGyroSrc = mock(PIDSource.class);
 		when(pidGyroSrc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
@@ -104,18 +104,18 @@ void testForwardAndRight() {
 
 		AutoMoveTo testAMT = new AutoMoveTo(args, dt, sd, pidMoveSrc, pidGyroSrc);
 
-		assertEquals(90, AutoUtils.position.getRot());
-		assertEquals(12, AutoUtils.position.getX());
-		assertEquals(12, AutoUtils.position.getY());
+		assertEquals(90, AutoUtils.state.getRot());
+		assertEquals(12, AutoUtils.state.getX());
+		assertEquals(12, AutoUtils.state.getY());
 	}
 
 	@Test
 	void testForward() {
 		String[] args = { "(0,12)" };
 
-		AutoUtils.position.setRot(0);
-		AutoUtils.position.setX(0);
-		AutoUtils.position.setY(0);
+		AutoUtils.state.setRot(0);
+		AutoUtils.state.setX(0);
+		AutoUtils.state.setY(0);
 
 		PIDSource pidGyroSrc = mock(PIDSource.class);
 		when(pidGyroSrc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
@@ -126,8 +126,8 @@ void testForward() {
 
 		AutoMoveTo testAMT = new AutoMoveTo(args, dt, sd, pidMoveSrc, pidGyroSrc);
 
-		assertEquals(0, AutoUtils.position.getRot());
-		assertEquals(0, AutoUtils.position.getX());
-		assertEquals(12, AutoUtils.position.getY());
+		assertEquals(0, AutoUtils.state.getRot());
+		assertEquals(0, AutoUtils.state.getX());
+		assertEquals(12, AutoUtils.state.getY());
 	}
 }