Merge pull request #50 from Ocebots/more-comments

Author: KaraParikh1

src/main/java/frc/robot/Robot.java

@@ -17,11 +17,13 @@ public class Robot extends TimedRobot {
 
   private final RobotContainer robotContainer;
 
+  // creates a new robot container
   public Robot() {
     robotContainer = new RobotContainer();
     Epilogue.bind(this);
   }
 
+  // starts the command scheduler
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
@@ -37,6 +39,7 @@ public void disabledPeriodic() {}
   @Override
   public void disabledExit() {}
 
+  // initializes autonomus
   @Override
   public void autonomousInit() {
     autonomousCommand = robotContainer.getAutonomousCommand();
@@ -52,6 +55,7 @@ public void autonomousPeriodic() {}
   @Override
   public void autonomousExit() {}
 
+  // stops autonomous during teleop
   @Override
   public void teleopInit() {
     if (autonomousCommand != null) {
@@ -65,6 +69,7 @@ public void teleopPeriodic() {}
   @Override
   public void teleopExit() {}
 
+  // cancels the command scheduler
   @Override
   public void testInit() {
     CommandScheduler.getInstance().cancelAll();

src/main/java/frc/robot/RobotContainer.java

@@ -37,6 +37,7 @@ public class RobotContainer {
           true,
           drivetrain);
   private int lastButtonPressed;
+  // slows down robot durring pickup
   private Command pickup =
       coral
           .pickUpCoral()
@@ -46,6 +47,7 @@ public class RobotContainer {
                     speedMultiplier = 1.0;
                     fieldRelative = true;
                   }));
+  // changes speed when picking up from source
   private Command pickupSource =
       coral.pickUpCoralSource().andThen(Commands.runOnce(() -> speedMultiplier = 1.0));
   private Command safeState = coral.safeState();
@@ -56,6 +58,7 @@ public class RobotContainer {
   private Field2d selectedSpot = new Field2d();
 
   public RobotContainer() {
+    // how we selected where we were going to score
     DataLogManager.start();
     configureBindings();
     SmartDashboard.putData("scheduler", CommandScheduler.getInstance());
@@ -73,6 +76,7 @@ public RobotContainer() {
     SmartDashboard.putData("Selected Score Locationn", selectedSpot);
   }
 
+  // all controller bindings
   private void configureBindings() {
     CommandScheduler.getInstance()
         .schedule(
@@ -85,6 +89,7 @@ private void configureBindings() {
                       }
                     })
                 .ignoringDisable(true));
+    // coral pickup
     controller
         .a()
         .onTrue(
@@ -101,6 +106,7 @@ private void configureBindings() {
                     fieldRelative = false;
                   }
                 }));
+    // cancel coral pickup
     controller
         .b()
         .onTrue(
@@ -116,6 +122,7 @@ private void configureBindings() {
                     speedMultiplier = 0.4;
                   }
                 }));
+    // enabling the safe state
     controller
         .x()
         .onTrue(
@@ -129,6 +136,7 @@ private void configureBindings() {
                   }
                 }));
 
+    // picking up algae
     controller
         .rightTrigger()
         .onTrue(
@@ -137,8 +145,10 @@ private void configureBindings() {
                 .until(() -> !controller.rightTrigger().getAsBoolean())
                 .andThen(algae.storeAlgae()));
 
+    // releasing the algae
     controller.y().onTrue(algae.releaseAlgae().andThen(algae.returnToUp()));
 
+    // scoring on all levels
     totalController
         .button(15)
         .whileTrue(
@@ -192,9 +202,11 @@ private void configureBindings() {
                   }
                 }));
 
+    // clearing algae off reef
     totalController.button(14).onTrue(coral.l1ReefClear(controller.leftTrigger()));
     totalController.button(13).onTrue(coral.l2ReefClear(controller.leftTrigger()));
 
+    // driving the robot
     drivetrain.setDefaultCommand(
         Commands.run(
             () ->
@@ -206,6 +218,7 @@ private void configureBindings() {
                     true),
             drivetrain));
 
+    // deploy climber, releases algae too
     controller.povUp().whileTrue(climb.pivotClimb());
     controller
         .povDown()
@@ -217,14 +230,17 @@ private void configureBindings() {
     controller.povRight().onTrue(Commands.runOnce(() -> autoDisabled = true));
   }
 
+  // deadbands for driving
   private double applyDeadband(double value) {
     return MathUtil.applyDeadband(value, ControllerConfig.DEADBAND);
   }
 
+  // sets the pose for auto-align
   public void periodic() {
     selectedSpot.setRobotPose(Positions.getIndividualReef(lastButtonPressed));
   }
 
+  // autonomous command
   public Command getAutonomousCommand() {
     return Commands.sequence(
         Commands.waitSeconds(2), coral.goToReef(drivetrain, () -> lastButtonPressed, () -> 3));