wh1ter0se /
PowerUp-2018
| Conditions | 25 |
| Total Lines | 106 |
| Lines | 0 |
| Ratio | 0 % |
| Changes | 1 | ||
| Bugs | 0 | Features | 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:
Complex classes like org.usfirst.frc.team3695.robot.auto.CommandGroupAuto.CommandGroupAuto(Position,Goal) often do a lot of different things. To break such a class down, we need to identify a cohesive component within that class. A common approach to find such a component is to look for fields/methods that share the same prefixes, or suffixes.
Once you have determined the fields that belong together, you can apply the Extract Class refactoring. If the component makes sense as a sub-class, Extract Subclass is also a candidate, and is often faster.
| 1 | package org.usfirst.frc.team3695.robot.auto; |
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| 20 | public CommandGroupAuto(Position position, Goal goal) {
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| 21 | //Get the state of the switches and scale for each round |
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| 22 | gameData = DriverStation.getInstance().getGameSpecificMessage(); |
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| 23 | |||
| 24 | // make sure everything is in the right state/position up here |
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| 25 | Robot.SUB_CLAMP.closeArms(); |
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| 26 | |||
| 27 | |||
| 28 | // EX: making sure flap is closed before auto starts |
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| 29 | switch (position) {
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| 30 | case LEFT: |
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| 31 | switch (goal){
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| 32 | case RUN_FOR_IT: |
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| 33 | addSequential(new CyborgCommandDriveUntilError()); |
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| 34 | break; |
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| 35 | case SWITCH: |
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| 36 | if (gameData.charAt(0) == 'L'){ //When the switch is on the left
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| 37 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_TO_SWITCH_FROM_SIDE)); |
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| 38 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_CLOCKWISE)); |
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| 39 | Robot.SUB_MANIPULATOR.spit(); |
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| 40 | } else { //When the switch is on the right
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| 41 | |||
| 42 | } |
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| 43 | Robot.SUB_MANIPULATOR.spit(); |
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| 44 | break; |
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| 45 | case ENEMY_SWITCH: |
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| 46 | if (gameData.charAt(2) == 'L'){ //When switch is on the left
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| 47 | |||
| 48 | } else { //When switch is on the right
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| 49 | |||
| 50 | } |
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| 51 | break; |
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| 52 | case SCALE: |
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| 53 | if (gameData.charAt(1) == 'L'){ //When scale is on the left
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| 54 | |||
| 55 | } else { //When scale is on the right
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| 56 | |||
| 57 | } |
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| 58 | break; |
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| 59 | |||
| 60 | case BEST_OPTION: |
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| 61 | break; |
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| 62 | } |
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| 63 | break; |
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| 64 | |||
| 65 | case CENTER: |
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| 66 | switch (goal){
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| 67 | case RUN_FOR_IT: |
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| 68 | addSequential(new CyborgCommandDriveUntilError()); |
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| 69 | break; |
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| 70 | case SWITCH: |
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| 71 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_PASS_PORTAL)); |
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| 72 | if (gameData.charAt(0) == 'L'){ //When the switch is on the left
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| 73 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_COUNTERCLOCKWISE)); |
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| 74 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_CENTER_LINE_SWITCH_ALIGN)); |
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| 75 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_CLOCKWISE)); |
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| 76 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_WALL_TO_BLOCKS |
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| 77 | + AutonomousConstants.DIST_BLOCKS_TO_SWITCH |
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| 78 | - AutonomousConstants.DIST_PASS_PORTAL)); |
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| 79 | |||
| 80 | } else { //When the switch is on the right
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| 81 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_CLOCKWISE)); |
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| 82 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_CENTER_LINE_SWITCH_ALIGN)); |
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| 83 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_COUNTERCLOCKWISE)); |
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| 84 | // addParallel(new CyborgCommandGoToMid()); |
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| 85 | addSequential(new CyborgCommandDriveDistance(AutonomousConstants.DIST_WALL_TO_BLOCKS |
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| 86 | + AutonomousConstants.DIST_BLOCKS_TO_SWITCH |
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| 87 | - AutonomousConstants.DIST_PASS_PORTAL)); |
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| 88 | } |
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| 89 | break; |
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| 90 | case ENEMY_SWITCH: |
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| 91 | break; |
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| 92 | case SCALE: |
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| 93 | break; |
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| 94 | case BEST_OPTION: |
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| 95 | break; |
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| 96 | } |
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| 97 | break; |
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| 98 | |||
| 99 | case RIGHT: |
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| 100 | switch (goal) {
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| 101 | case RUN_FOR_IT: |
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| 102 | addSequential(new CyborgCommandDriveUntilError()); |
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| 103 | break; |
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| 104 | case SWITCH: |
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| 105 | if (gameData.charAt(0) == 'R'){ //When the switch is on the right
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| 106 | addParallel(new CyborgCommandDriveDistance(AutonomousConstants.DIST_TO_SWITCH_FROM_SIDE)); |
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| 107 | addSequential(new CyborgCommandRotateDegrees(AutonomousConstants.ROT_90_COUNTERCLOCKWISE)); |
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| 108 | } else { //When the switch is on the left
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| 109 | |||
| 110 | } |
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| 111 | break; |
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| 112 | case ENEMY_SWITCH: |
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| 113 | |||
| 114 | break; |
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| 115 | case SCALE: |
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| 116 | if (gameData.charAt(1) == 'R'){ //When scale is on the right
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| 117 | |||
| 118 | } else { //When scale is on the left
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| 119 | |||
| 120 | } |
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| 121 | break; |
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| 122 | case BEST_OPTION: |
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| 123 | break; |
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| 124 | } |
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| 125 | break; |
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| 126 | } |
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| 128 | } |
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Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it.