wh1ter0se /
PowerUp-2018
| Conditions | 5 |
| Total Lines | 67 |
| Lines | 0 |
| Ratio | 0 % |
| Changes | 0 | ||
Small methods make your code easier to understand, in particular if combined with a good name. Besides, if your method is small, finding a good name is usually much easier.
For example, if you find yourself adding comments to a method's body, this is usually a good sign to extract the commented part to a new method, and use the comment as a starting point when coming up with a good name for this new method.
Commonly applied refactorings include:
If many parameters/temporary variables are present:
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| 54 | public void robotInit() {
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| 55 | /// instantiate bot chooser |
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| 56 | botChooser = new SendableChooser<>(); |
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| 57 | botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND); |
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| 58 | botChooser.addObject(Bot.OOF.toString(), Bot.OOF); |
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| 59 | SmartDashboard.putData("Bot", botChooser);
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| 60 | |||
| 61 | if (botChooser.getSelected() != null){
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| 62 | bot = botChooser.getSelected(); |
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| 63 | } else {
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| 64 | bot = Bot.OOF; |
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| 65 | } |
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| 66 | |||
| 67 | DriverStation.reportWarning("ROBOT STARTED; GOOD LUCK", false);
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| 68 | /// instantiate subsystems |
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| 69 | // SUB_ARDUINO = new SubsystemArduino(); |
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| 70 | SUB_MANIPULATOR = new SubsystemManipulator(); |
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| 71 | SUB_CLAMP = new SubsystemClamp(); |
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| 72 | SUB_COMPRESSOR = new SubsystemCompressor(); |
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| 73 | SUB_DRIVE = new SubsystemDrive(); |
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| 74 | |||
| 75 | SUB_DRIVE.pid.setPIDF(.5, 0, 0, 0); |
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| 76 | |||
| 77 | SUB_HOOK = new SubsystemHook(); |
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| 78 | SUB_MAST = new SubsystemMast(); |
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| 79 | vision = new Vision(); |
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| 80 | |||
| 81 | /// instantiate operator interface |
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| 82 | oi = new OI(); |
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| 85 | |||
| 86 | /// instantiate drivetrain chooser |
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| 87 | driveChooser = new SendableChooser<>(); |
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| 88 | driveChooser.addDefault(Drivetrain.ROCKET_LEAGUE.toString(), Drivetrain.ROCKET_LEAGUE); // set default to RL drive |
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| 89 | for(int i = 1; i < Drivetrain.values().length; i++) {
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| 90 | driveChooser.addObject(Drivetrain.values()[i].toString(), Drivetrain.values()[i]); } // add each drivetrain enum value to chooser |
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| 91 | SmartDashboard.putData("Drivetrain", driveChooser); //display the chooser on the dash
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| 92 | |||
| 93 | /// instantiate position chooser |
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| 94 | positionChooser = new SendableChooser<>(); |
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| 95 | positionChooser.addDefault(Position.CENTER.toString(), Position.CENTER); // set default to center |
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| 96 | for(int i = 1; i < Position.values().length; i++) {
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| 97 | positionChooser.addObject(Position.values()[i].toString(), Position.values()[i]); } // add each position enum value to chooser |
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| 98 | SmartDashboard.putData("Position", positionChooser); //display the chooser on the dash
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| 99 | |||
| 100 | /// instantiate goal chooser |
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| 101 | goalChooser = new SendableChooser<>(); |
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| 102 | goalChooser.addDefault(Goal.NOTHING.toString(), Goal.NOTHING); // set default to nothing |
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| 103 | for(int i = 1; i < Goal.values().length; i++) {
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| 104 | goalChooser.addObject(Goal.values()[i].toString(), Goal.values()[i]); } // add each autonomous goal to chooser |
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| 105 | SmartDashboard.putData("Goal", goalChooser); //display the chooser on the dash
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| 106 | |||
| 107 | /// instantiate bot chooser |
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| 108 | botChooser = new SendableChooser<>(); |
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| 109 | botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND); |
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| 110 | botChooser.addObject(Bot.OOF.toString(), Bot.OOF); |
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| 111 | SmartDashboard.putData("Bot", botChooser);
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| 114 | |||
| 115 | /// instantiate cameras |
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| 116 | vision.startScrewCameraThread(); |
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| 117 | vision.startFrameCameraThread(); |
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| 118 | |||
| 119 | SmartDashboard.putData("Sub_Drive", SUB_DRIVE);
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| 120 | DriverStation.reportWarning("SUBSYSTEMS, CHOOSERS INSTANTIATED", false);
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| 121 | } |
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| 179 |
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See this CWE advisory on why this is a security issue.