Naming Conventions

General

• Classes should be UpperCamelCase
• Methods should be lowerCamelCase
• Local & Instance Variables should be lowerCamelCase

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Units

Unit Type	Preferred Unit to Use
Distance	Meters
Distance per Time	Meters per Second
Angle	Degrees
Angle per Time	Degrees per Second
Time	Seconds

• If the unit does not fall under any of these types and is not readily apparent from the variable type/name, add a JavaDoc for that variable specifying it's unit. Avoid unnecessarily specifying units in the variable name.

Example: ❌

public static final double CURRENT_LIMIT_FLOOR_AMPS = 1; // Floor: What we limit it to

Example: ✔

/**
* Floor: What we limit it to
* Unit: Amps
*/
public static final double CURRENT_LIMIT_FLOOR = 1; 

• If you need to do any unit conversions to follow these conventions, do them in code using the Units class whenever possible. Avoid converting values outside of the code project.

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Logging Values

• In a subsystem, values should be logged with the string beginning with "SubsystemName/". This creates groups in SmartDashboard.
  Example:

SmartDashboard.putNumber("Drivetrain/Roll", getRoll());

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Constants

• The Constants class should contain subclasses for each subsystem. The subclasses should be in alphabetical order.

Example:

public final class Constants {
    public static final class constControllers {
        public static final double DRIVER_LEFT_STICK_X_DEADBAND = 0.05;
  }
}

• All Constants should be SCREAMING_SNAKE_CASE
• Variable names should avoid specifying which subsystem they belong to.

Example: ❌

public static final class constWrist {
    /**
    * Floor: What we limit it to
    * Unit: Amps
    */
    public static final double WRIST_CURRENT_LIMIT_FLOOR = 1; 
}

Example: ✔

public static final class constWrist {
    /**
    * Floor: What we limit it to
    * Unit: Amps
    */
    public static final double CURRENT_LIMIT_FLOOR = 1; 
}

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RobotMap

• The RobotMap class should contain subclasses for each subsystem. The subclasses should be in alphabetical order.

Example:

public class RobotMap {
    public static final class mapDrivetrain {
    }
}

• All ports should be SCREAMING_SNAKE_CASE.
• Each port should specify which type of port it is in its variable name. Example types: CAN, DIO, USB
• Variable names should avoid specifying which subsystem they belong to.

Example: ❌

public static final class mapWrist {
    public static final int WRIST_MOTOR_CAN = 50;
}

Example: ✔

public static final class mapWrist {
    public static final int MOTOR_CAN = 50;
}

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RobotPreferences

• The RobotPreferences class should contain subclasses for each subsystem. The subclasses should be in alphabetical order.

Example:

public class RobotPreferences {
    public static final class prefWrist {
    }
}

• All preferences should be lowerCamelCase.
• Variable names must specify which subsystem they belong to, as they need to be unique.
• Variable names must match their SmartDashboard name.

Example: ❌

public static final class mapWrist {
    public static final SN_DoublePreference ANGLE_TOLERANCE = new SN_DoublePreference("AngleTolerance", 2);
}

Example: ✔

public static final class mapWrist {
    public static final SN_DoublePreference wristAngleTolerance = new SN_DoublePreference("wristAngleTolerance", 2);
}

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RobotContainer

Controller bindings in configureBindings() should be separated by Controller. If possible, reference a diagram of the controls in the separator.

Example:

private void configureBindings() {
    // Driver Controller
    // Diagram: assets\driverControls23.png

    conDriver.btn_Back... (more controls here)

    // Operator Controller
    // Diagram: assets\operatorControls23.png

    conOperator.btn_Back... (more controls here)
}