Update examples to follow best practices

cpp/CurrentLimits/src/main/include/Robot.h

@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
   void SimulationInit() override;
   void SimulationPeriodic() override;
 
-  ctre::phoenix6::hardware::TalonFX m_fx{0, "Fred"};
+  ctre::phoenix6::hardware::TalonFX m_fx{0, "canivore"};
   ctre::phoenix6::controls::DutyCycleOut m_output{0};
   ctre::phoenix6::configs::CurrentLimitsConfigs m_currentLimits{};
 

cpp/FusedCANcoder/src/main/include/Robot.h

@@ -30,8 +30,8 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override;
 
 
-  ctre::phoenix6::hardware::TalonFX m_fx{1, "fred"};
-  ctre::phoenix6::hardware::CANcoder m_cc{1, "fred"};
+  ctre::phoenix6::hardware::TalonFX m_fx{1, "canivore"};
+  ctre::phoenix6::hardware::CANcoder m_cc{1, "canivore"};
   ctre::phoenix6::StatusSignal<bool> f_fusedSensorOutOfSync = m_fx.GetFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> sf_fusedSensorOutOfSync = m_fx.GetStickyFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> f_remoteSensorInvalid = m_fx.GetFault_RemoteSensorDataInvalid();

cpp/MotionMagic/src/main/include/sim/TalonFXSimProfile.h

@@ -9,7 +9,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile : public SimProfile {
-    units::ohm_t kMotorResistance = 2_mOhm; // Assume 2mOhm resistance for voltage drop calculation
+    static constexpr units::ohm_t kMotorResistance = 2_mOhm; // Assume 2mOhm resistance for voltage drop calculation
     frc::sim::DCMotorSim _motorSim;
     ctre::phoenix6::hardware::TalonFX& _falcon;
 

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

@@ -21,29 +21,29 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final String CANBUS_NAME = "Fred";
-  private CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
-  private TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
-  private Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
+  private static final String CANBUS_NAME = "canivore";
+  private final CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
+  private final TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
+  private final Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
   private int m_printCount = 0;
 
-  private DutyCycleOut m_dutycycle = new DutyCycleOut(0);
+  private final DutyCycleOut m_dutycycle = new DutyCycleOut(0);
 
-  XboxController m_joystick = new XboxController(0);
+  private final XboxController m_joystick = new XboxController(0);
 
-  StatusSignal<Double> m_ccpos = m_cc.getPosition();
-  StatusSignal<Double> m_fxpos = m_fx.getPosition();
-  StatusSignal<Double> m_p2yaw = m_p2.getYaw();
-  StatusSignal<Double> m_ccvel = m_cc.getVelocity();
-  StatusSignal<Double> m_fxvel = m_fx.getVelocity();
+  private final StatusSignal<Double> m_ccpos = m_cc.getPosition();
+  private final StatusSignal<Double> m_fxpos = m_fx.getPosition();
+  private final StatusSignal<Double> m_p2yaw = m_p2.getYaw();
+  private final StatusSignal<Double> m_ccvel = m_cc.getVelocity();
+  private final StatusSignal<Double> m_fxvel = m_fx.getVelocity();
   /**
    * Pigeon2 can only perform this latency compensation if the Z axis is straight up, since the
    * angular velocity Z value comes from the pre-mount orientation gyroscope.
    * For more information on what signals have what algorithms applied to them,
    * see section 1.6 of the Pigeon 2's User's Guide
    * https://store.ctr-electronics.com/content/user-manual/Pigeon2%20User's%20Guide.pdf 
    */
-  StatusSignal<Double> m_p2yawRate = m_p2.getAngularVelocityZ();
+  private final StatusSignal<Double> m_p2yawRate = m_p2.getAngularVelocityZ();
 
   /**
    * This function is run when the robot is first started up and should be used for any

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

@@ -21,9 +21,9 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final double PRINT_PERIOD = 0.5; // Update every 500 ms
+  private static final double PRINT_PERIOD = 0.5; // Update every 500 ms
 
-  private final String canBusName = "Fred";
+  private static final String canBusName = "rio";
   private final TalonFX talonFX = new TalonFX(2, canBusName);
   private final CANcoder cancoder = new CANcoder(1, canBusName);
   private final DutyCycleOut fwdOut = new DutyCycleOut(0);

java/CANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -12,7 +12,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
     private final TalonFX _falcon;
     private final CANcoder _canCoder;
     private final double _gearRatio;

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

@@ -19,12 +19,12 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  TalonFX m_fx = new TalonFX(0, "Fred");
-  DutyCycleOut m_output = new DutyCycleOut(0);
+  private final TalonFX m_fx = new TalonFX(0, "canivore");
+  private final DutyCycleOut m_output = new DutyCycleOut(0);
 
-  CurrentLimitsConfigs m_currentLimits = new CurrentLimitsConfigs();
+  private final CurrentLimitsConfigs m_currentLimits = new CurrentLimitsConfigs();
 
-  XboxController m_joystick = new XboxController(0);
+  private final XboxController m_joystick = new XboxController(0);
 
 
   int printCount = 0;

java/Falcon500ArcadeDrive/src/main/java/frc/robot/Robot.java

@@ -21,7 +21,7 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final String CANBUS_NAME = "";
+  private static final String CANBUS_NAME = "canivore";
   private final TalonFX leftLeader = new TalonFX(1, CANBUS_NAME);
   private final TalonFX leftFollower = new TalonFX(2, CANBUS_NAME);
   private final TalonFX rightLeader = new TalonFX(3, CANBUS_NAME);

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

@@ -25,26 +25,28 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  TalonFX m_fx = new TalonFX(1, "fred");
-  CANcoder m_cc = new CANcoder(1, "fred");
-  StatusSignal<Boolean> f_fusedSensorOutOfSync = m_fx.getFault_FusedSensorOutOfSync();
-  StatusSignal<Boolean> sf_fusedSensorOutOfSync = m_fx.getStickyFault_FusedSensorOutOfSync();
-  StatusSignal<Boolean> f_remoteSensorInvalid = m_fx.getFault_RemoteSensorDataInvalid();
-  StatusSignal<Boolean> sf_remoteSensorInvalid = m_fx.getStickyFault_RemoteSensorDataInvalid();
+  private static final String canBusName = "canivore";
+  private final TalonFX m_fx = new TalonFX(1, canBusName);
+  private final CANcoder m_cc = new CANcoder(1, canBusName);
 
-  StatusSignal<Double> fx_pos = m_fx.getPosition();
-  StatusSignal<Double> fx_vel = m_fx.getVelocity();
-  StatusSignal<Double> cc_pos = m_cc.getPosition();
-  StatusSignal<Double> cc_vel = m_cc.getVelocity();
-  StatusSignal<Double> fx_rotorPos = m_fx.getRotorPosition();
+  private final StatusSignal<Boolean> f_fusedSensorOutOfSync = m_fx.getFault_FusedSensorOutOfSync();
+  private final StatusSignal<Boolean> sf_fusedSensorOutOfSync = m_fx.getStickyFault_FusedSensorOutOfSync();
+  private final StatusSignal<Boolean> f_remoteSensorInvalid = m_fx.getFault_RemoteSensorDataInvalid();
+  private final StatusSignal<Boolean> sf_remoteSensorInvalid = m_fx.getStickyFault_RemoteSensorDataInvalid();
 
-  DutyCycleOut m_dutyCycleControl = new DutyCycleOut(0);
+  private final StatusSignal<Double> fx_pos = m_fx.getPosition();
+  private final StatusSignal<Double> fx_vel = m_fx.getVelocity();
+  private final StatusSignal<Double> cc_pos = m_cc.getPosition();
+  private final StatusSignal<Double> cc_vel = m_cc.getVelocity();
+  private final StatusSignal<Double> fx_rotorPos = m_fx.getRotorPosition();
 
-  XboxController m_joystick = new XboxController(0);
+  private final DutyCycleOut m_dutyCycleControl = new DutyCycleOut(0);
 
-  int printCount = 0;
+  private final XboxController m_joystick = new XboxController(0);
 
-  Mechanisms m_mechanism = new Mechanisms();
+  private int printCount = 0;
+
+  private final Mechanisms m_mechanism = new Mechanisms();
 
   /**
    * This function is run when the robot is first started up and should be used for any

java/FusedCANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -12,7 +12,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
     private final TalonFX _falcon;
     private final CANcoder _canCoder;
     private final double _gearRatio;

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

@@ -23,12 +23,13 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  TalonFX m_fx = new TalonFX(1, "Fred");
-  MotionMagicVoltage m_mmReq = new MotionMagicVoltage(0);
-  XboxController m_joystick = new XboxController(0);
-  int m_printCount = 0;
+  private final TalonFX m_fx = new TalonFX(1, "canivore");
+  private final MotionMagicVoltage m_mmReq = new MotionMagicVoltage(0);
+  private final XboxController m_joystick = new XboxController(0);
 
-  Mechanisms m_mechanisms = new Mechanisms();
+  private int m_printCount = 0;
+
+  private final Mechanisms m_mechanisms = new Mechanisms();
 
   @Override
   public void simulationInit() {

java/MotionMagic/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -11,7 +11,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
     private final TalonFX _falcon;
 
     private final DCMotorSim _motorSim;

java/Pigeon2/src/main/java/frc/robot/Robot.java

@@ -21,7 +21,7 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final double PRINT_PERIOD = 0.5; // Update every 500 ms
+  private static final double PRINT_PERIOD = 0.5; // Update every 500 ms
 
   /* Keep a reference for a TalonFX around so we can drive the thing the Pigeon is on */
   private final TalonFX talonfx = new TalonFX(0, "rio");

java/Pigeon2/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -12,7 +12,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
     private final TalonFX _falcon;
     private final Pigeon2 _pigeon;
 

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

@@ -22,7 +22,7 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final TalonFX m_fx = new TalonFX(0, "Fred");
+  private final TalonFX m_fx = new TalonFX(0, "canivore");
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at position 0, enable FOC, no feed forward, use slot 0 */

java/PositionClosedLoop/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -12,7 +12,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
 
     private final DCMotorSim _motorSim;
     private final TalonFXSimState _falconSim;

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

@@ -23,8 +23,9 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final TalonFX m_fx = new TalonFX(0, "Fred");
-  private final TalonFX m_fllr = new TalonFX(1, "Fred");
+  private static final String canBusName = "canivore";
+  private final TalonFX m_fx = new TalonFX(0, canBusName);
+  private final TalonFX m_fllr = new TalonFX(1, canBusName);
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at velocity 0, enable FOC, no feed forward, use slot 0 */

java/VelocityClosedLoop/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -12,7 +12,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile extends SimProfile {
-    private final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
+    private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
     private final TalonFXSimState _falconSim;
     private final DCMotorSim _motorSim;
 

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

@@ -20,44 +20,45 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  TalonFX m_motor1 = new TalonFX(0, "*"); // Pick the first CANivore bus
-  Pigeon2 m_pigdey = new Pigeon2(1, "*"); // Pick the first CANivore bus also
-  TalonFX m_transcientMotor = new TalonFX(20, "*"); // This motor may or may not be on the bus, 
-                                                                     // selectively power it to completely test this example 
-  TalonFX m_motor2 = new TalonFX(0, "rio"); // Pick the RIO bus to force a failure we can detect
-
-  StatusSignal<Double> m_canbus1signal1 = m_motor1.getPosition();
-  StatusSignal<Double> m_canbus1signal2 = m_motor1.getVelocity();
-  StatusSignal<ControlModeValue> m_canbus1signal3 = m_motor1.getControlMode();
-  StatusSignal<Double> m_canbus1signal4 = m_pigdey.getYaw();
-  StatusSignal<Double> m_canbus1signal5 = m_pigdey.getRoll();
+  private final TalonFX m_motor1 = new TalonFX(0, "*"); // Pick the first CANivore bus
+  private final Pigeon2 m_pigdey = new Pigeon2(1, "*"); // Pick the first CANivore bus also
+  private final TalonFX m_transcientMotor = new TalonFX(20, "*"); // This motor may or may not be on the bus, 
+                                                                  // selectively power it to completely test this example 
+  private final TalonFX m_motor2 = new TalonFX(0, "rio"); // Pick the RIO bus to force a failure we can detect
+
+  private final StatusSignal<Double> m_canbus1signal1 = m_motor1.getPosition();
+  private final StatusSignal<Double> m_canbus1signal2 = m_motor1.getVelocity();
+  private final StatusSignal<ControlModeValue> m_canbus1signal3 = m_motor1.getControlMode();
+  private final StatusSignal<Double> m_canbus1signal4 = m_pigdey.getYaw();
+  private final StatusSignal<Double> m_canbus1signal5 = m_pigdey.getRoll();
 
-  StatusSignal<Double> m_canbus2signal1 = m_motor2.getPosition();
+  private final StatusSignal<Double> m_canbus2signal1 = m_motor2.getPosition();
 
-  StatusSignal<Double> m_canbus1transcient1 = m_transcientMotor.getPosition();
-  StatusSignal<Double> m_canbus1transcient2 = m_transcientMotor.getVelocity();
+  private final StatusSignal<Double> m_canbus1transcient1 = m_transcientMotor.getPosition();
+  private final StatusSignal<Double> m_canbus1transcient2 = m_transcientMotor.getVelocity();
 
-  StatusSignal<?>[] m_signalsAcrossCANbuses = new StatusSignal<?>[]{
+  private final StatusSignal<?>[] m_signalsAcrossCANbuses = new StatusSignal<?>[]{
     m_canbus1signal1,
     m_canbus2signal1
   };
-  StatusSignal<?>[] m_lotsOfSignals = new StatusSignal<?>[]{
+  private final StatusSignal<?>[] m_lotsOfSignals = new StatusSignal<?>[]{
     m_canbus1signal1,
     m_canbus1signal2,
     m_canbus1signal3,
+    m_canbus1signal4,
     m_canbus1signal5
   };
-  StatusSignal<?>[] m_noSignals = new StatusSignal<?>[]{};
-  StatusSignal<?>[] m_tanscientSignals = new StatusSignal<?>[]{
+  private final StatusSignal<?>[] m_noSignals = new StatusSignal<?>[]{};
+  private final StatusSignal<?>[] m_tanscientSignals = new StatusSignal<?>[]{
     m_canbus1signal1,
     m_canbus1signal2,
     m_canbus1transcient1,
     m_canbus1transcient2
   };
 
-  XboxController m_joystick = new XboxController(0); // Allow us to see the different errors
+  private final XboxController m_joystick = new XboxController(0); // Allow us to see the different errors
 
-  double m_waitForAllTimeout = 0.1;
+  private double m_waitForAllTimeout = 0.1;
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.