org.usfirst.frc.team3695.robot.commands.ToggleCommandKillPID.initialize() - Code Metrics - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

initialize() A
last analyzed 2018-03-21 15:27 UTC

↳ Parent: org.usfirst.frc.team3695.robot.commands.ToggleCommandKillPID

Complexity

Conditions

Size

Total Lines

Duplication

Lines	0
Ratio	0 %

Importance

Changes

Metric	Value
cc	2
dl	0
loc	9
rs	9.95
c	0
b	0
f	0

package org.usfirst.frc.team3695.robot.commands;

import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc.team3695.robot.Robot;
import org.usfirst.frc.team3695.robot.util.Util;

/** Toggle PID */
public class ToggleCommandKillPID extends Command {
	
	public static Boolean PID_ENABLED;


    public ToggleCommandKillPID() {
        requires(Robot.SUB_DRIVE);
        PID_ENABLED = true;

    }

    protected void initialize() {
    	PID_ENABLED = !PID_ENABLED;

    	if (PID_ENABLED) {
    		Robot.SUB_DRIVE.pid.setPIDF(Util.getAndSetDouble("P", .5),

                    					Util.getAndSetDouble("I", 0),
                    					Util.getAndSetDouble("D", 0),
                    					Util.getAndSetDouble("F", 0));
    	} else {
    		Robot.SUB_DRIVE.pid.setPIDF(0,0,0,0);
    	}
    }

    protected void execute() { }

    protected boolean isFinished() {
        return true;
    }

    protected void end() {}

    protected void interrupted() {}
}


1			package org.usfirst.frc.team3695.robot.commands;
2
3			import edu.wpi.first.wpilibj.command.Command;
4			import org.usfirst.frc.team3695.robot.Robot;
5			import org.usfirst.frc.team3695.robot.util.Util;
6
7			/** Toggle PID */
8			public class ToggleCommandKillPID extends Command {
9
10			public static Boolean PID_ENABLED;
			0 ignored issues – show Security introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report public static fields should always be marked final to prevent them being overwritten in unexpected ways. Consider making `PID_ENABLED` final. See this CWE advisory on why this is a security issue. Loading history...
11
12			public ToggleCommandKillPID() {
13			requires(Robot.SUB_DRIVE);
14			PID_ENABLED = true;
			0 ignored issues – show Bug Multi Threading introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Lazy initializations of static fields like `PID_ENABLED` should be synchronized. Loading history...
15			}
16
17			protected void initialize() {
18			PID_ENABLED = !PID_ENABLED;
			0 ignored issues – show Bug Multi Threading introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Instance methods writing to static fields may lead to concurrency problems. Consider making the enclosing method static or removing this assignment to a static field. If you really need to set this static field, consider writing a thread-safe setter and atomic getter. Loading history... Bug Multi Threading introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Lazy initializations of static fields like `PID_ENABLED` should be synchronized. Loading history...
19			if (PID_ENABLED) {
20			Robot.SUB_DRIVE.pid.setPIDF(Util.getAndSetDouble("P", .5),
			0 ignored issues – show Comprehensibility introduced 2018-03-04 21:20 UTC by Report Bug Copy Issue Report Consider assigning this magic number .5 to a constant. 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. Loading history...
21			Util.getAndSetDouble("I", 0),
22			Util.getAndSetDouble("D", 0),
23			Util.getAndSetDouble("F", 0));
24			} else {
25			Robot.SUB_DRIVE.pid.setPIDF(0,0,0,0);
26			}
27			}
28
29			protected void execute() { }
30
31			protected boolean isFinished() {
32			return true;
33			}
34
35			protected void end() {}
36
37			protected void interrupted() {}
38			}
39

wh1ter0se / PowerUp-2018

initialize() A last analyzed 2018-03-21 15:27 UTC

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initialize() A
last analyzed 2018-03-21 15:27 UTC