Additional simplification downstream of managing allianceColor within…

… the drivetrain (#78)

* simplify logic and remove allianceColor enum

* spotless

* remove commented lines

src/main/java/frc/robot/Constants.java

@@ -9,16 +9,6 @@
 
 public final class Constants {
 
-  public static enum AllianceColor {
-    RED_ALLIANCE,
-    BLUE_ALLIANCE
-  }
-
-  public static final int dioAllianceSwitchPort = 10;
-
-  // length is 8
-  public static final int[] dioPortNumbers = {11, 12, 13, 18, 19, 20, 21, 22};
-
   public static final class RobotConstants {
     public static final double kNominalVoltage = 12.0;
     public static final double kPeriod = TimedRobot.kDefaultPeriod;
@@ -195,6 +185,11 @@ public static final class ArmConstants {
   }
 
   public static final class AutoConstants {
+    public static final int kAllianceColorSelectorPort = 10;
+
+    // length is 8
+    public static final int[] kAutonomousModeSelectorPorts = {11, 12, 13, 18, 19, 20, 21, 22};
+
     public static final double kMaxSpeedMetersPerSecond = 3.0;
     public static final double kMaxAccelerationMetersPerSecondSquared = 3.0;
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;

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

@@ -9,7 +9,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.Constants.AllianceColor;
+import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.OIConstants;
 import frc.robot.drivetrain.Drivetrain;
 import frc.robot.drivetrain.commands.ZorroDrive;
@@ -25,19 +25,17 @@ public class RobotContainer {
   // private XboxController m_operator = new XboxController(OIConstants.kOperatorControllerPort);
 
   // digital inputs for autonomous selection
-  private final DigitalInput[] autonomousModes = new DigitalInput[Constants.dioPortNumbers.length];
-  private final DigitalInput allianceSelectionSwitch;
+  private final DigitalInput[] autonomousModes =
+      new DigitalInput[AutoConstants.kAutonomousModeSelectorPorts.length];
 
   private Autonomous m_autonomous;
 
   public RobotContainer() {
 
-    for (int i = 0; i < Constants.dioPortNumbers.length; i++) {
-      autonomousModes[i] = new DigitalInput(Constants.dioPortNumbers[i]);
+    for (int i = 0; i < AutoConstants.kAutonomousModeSelectorPorts.length; i++) {
+      autonomousModes[i] = new DigitalInput(AutoConstants.kAutonomousModeSelectorPorts[i]);
     }
 
-    allianceSelectionSwitch = new DigitalInput(Constants.dioAllianceSwitchPort);
-
     m_swerve.setDefaultCommand(new ZorroDrive(m_swerve, m_driver));
     m_swerve.configurePathPlanner();
 
@@ -101,7 +99,7 @@ private class Autonomous {
 
     private final String filename;
 
-    private Autonomous(String filename, AllianceColor alliance) {
+    private Autonomous(String filename) {
       this.filename = filename;
     }
 
@@ -114,28 +112,21 @@ private String getFilename() {
     }
   }
 
-  private void updateAllianceColor() {
-    m_swerve.setAlliance(
-        allianceSelectionSwitch.get() ? AllianceColor.RED_ALLIANCE : AllianceColor.BLUE_ALLIANCE);
-  }
-
   /** Updates the autonomous based on the physical selector switch */
   private void updateSelectedAutonomous() {
-    updateAllianceColor();
-
     switch (getSelectedAutonomousMode()) {
       case 0:
         m_autonomous =
             m_swerve.getRedAlliance()
-                ? new Autonomous("R-driveFwd2m", AllianceColor.RED_ALLIANCE)
-                : new Autonomous("B-driveFwd2m", AllianceColor.BLUE_ALLIANCE);
+                ? new Autonomous("R-driveFwd2m")
+                : new Autonomous("B-driveFwd2m");
         break;
 
       case 1:
         m_autonomous =
             m_swerve.getRedAlliance()
-                ? new Autonomous("R-driveFwd2m", AllianceColor.RED_ALLIANCE)
-                : new Autonomous("B_SpinForward", AllianceColor.BLUE_ALLIANCE);
+                ? new Autonomous("R-driveFwd2m")
+                : new Autonomous("B_SpinForward");
         break;
 
       case 2:

src/main/java/frc/robot/drivetrain/Drivetrain.java

@@ -14,11 +14,12 @@
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
-import frc.robot.Constants.AllianceColor;
+import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.RobotConstants;
 
@@ -29,8 +30,6 @@ public class Drivetrain extends SubsystemBase {
 
   private final SwerveDriveKinematics m_kinematics = DriveConstants.kDriveKinematics;
 
-  private AllianceColor m_alliance;
-
   private final SwerveModule m_frontLeft =
       new SwerveModule(
           "FrontLeft",
@@ -73,6 +72,9 @@ public class Drivetrain extends SubsystemBase {
 
   private final Field2d m_field = new Field2d();
 
+  private final DigitalInput allianceSelectionSwitch =
+      new DigitalInput(AutoConstants.kAllianceColorSelectorPort);
+
   public Drivetrain() {
     m_gyro.reset();
 
@@ -242,19 +244,11 @@ public void configurePathPlanner() {
         );
   }
 
-  public void setAlliance(AllianceColor alliance) {
-    this.m_alliance = alliance;
-  }
-
-  public AllianceColor getAlliance() {
-    return this.m_alliance;
-  }
-
   public boolean getFieldRotated() {
-    return m_alliance == AllianceColor.RED_ALLIANCE;
+    return allianceSelectionSwitch.get();
   }
 
   public boolean getRedAlliance() {
-    return m_alliance == AllianceColor.RED_ALLIANCE;
+    return allianceSelectionSwitch.get();
   }
 }