Naming Conventions

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

RobotContainer Naming Conventions

Controllers should be named con followed by the controller type.

private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);

Subsystems should be named sub followed by the subsystem name.

private static final Drivetrain subDrivetrain = new Drivetrain();

A test controller should always be added, using the same controller bindings as the regular operator controller, but bypassing the State Machine.

Driver and operator bindings should be declared using separate methods.

configureDriverBindings(conDriver);
configureOperatorBindings(conOperator);

RobotMap Naming Conventions

• The RobotMap class should contain subclasses for every subsystem.

Example:

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

• All ports should be SCREAMING_SNAKE_CASE.
• Each port name should follow this naming scheme: DEVICETYPE_LOCATION_CONNECTIONTYPE. Common connection types include: CAN, DIO, USB
• Variable names should avoid specifying which subsystem they belong to, as that information is redundant when they're referenced.

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;
}

Constants Naming Conventions

• The Constants class should contain subclasses for each subsystem.

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
• Each constant name should follow this naming scheme: PURPOSE_DESCRIPTION, where the purpose is what the variable is used for (ex. OUTTAKE, DETECT, CONIFG) while the description includes the minimum amount of details to remove ambiguity (ex. SPEED, DISTANCE, TOLERANCE)
• Every motor must have a new TalonFX configuration that is set to the motor. The actual configuration should be done in Constants.

   public static TalonFXConfiguration ELEVATOR_CONFIG = new TalonFXConfiguration();
      static {
        ELEVATOR_CONFIG.MotorOutput.NeutralMode = NeutralModeValue.Brake;
        ELEVATOR_CONFIG.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
        ... more configurations
      }

• Variable names should avoid specifying which subsystem they belong to, as that information is redundant when they're referenced.

Example: ❌

public static final class constWrist {
    public static final double WRIST_CURRENT_LIMIT_FLOOR = 1; 
}

Example: ✔

public static final class constWrist {
    public static final double CURRENT_LIMIT_FLOOR = 1; 
}

Units

• Use WPILib's Units class to avoid ambiguity whenever possible
• If you need to do any unit conversions, do them in code using the Units class. Avoid converting values outside of the code project.

Example: ❌

public static final Distance WHEEL_DIAMETER = Units.Inches.of(3.98);
public static final double WHEEL_CIRCUMFERENCE = 0.31742888;

Example: ✔

public static final Distance WHEEL_DIAMETER = Units.Inches.of(3.98);
public static final double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER.in(Units.Meters) * Math.PI;

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Logging

All subsystems should include a @Logged declaration on top of the class header.

@Logged
public class RobotContainer {

Importing

• When possible, modify imports to include .* from large files rather than importing the individual classes within that file.

Example: ❌

import frc.robot.subsystems.AlgaeIntake;
import frc.robot.subsystems.CoralOuttake;
import frc.robot.subsystems.Drivetrain;

Example: ✔

import frc.robot.subsystems.*;