The Great Refactor, Part I

added teamcode module.
added READMEs to some modules.
moved lots of consts to Var object
deleted unused Zoom opmode
deleted unused RobotLocks.kt

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt

@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode
 
-import org.firstinspires.ftc.teamcode.odo.Pose
-import org.firstinspires.ftc.teamcode.odo.degrees
-import org.firstinspires.ftc.teamcode.odo.inches
-import org.firstinspires.ftc.teamcode.utility.Vector2
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.Vector2
+import org.firstinspires.ftc.teamcode.utilities.degrees
+import org.firstinspires.ftc.teamcode.utilities.inches
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection
 import kotlin.math.abs
 import kotlin.math.cos

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt

@@ -0,0 +1,48 @@
+package org.firstinspires.ftc.teamcode
+/*
+ * Servo rotations: minimum 0.0, maximum 1.0
+ */
+/**
+ * All the things that a driver might need to change, in one place.
+ */
+object Var {
+    // Rotations.
+
+    // 'hover' - just above ground
+    const val CLAW_HOVER_ROTATION = 0.669
+
+    // 'closing' - touching ground as much as possible without hindering claw operation
+    const val CLAW_CLOSING_ROTATION = 0.720
+
+    // 'flipped' - pixel drop-off location
+    const val CLAW_FLIPPED_ROTATION = 0.069
+
+    // 'stowed' - straight up or otherwise out of the way
+    const val CLAW_STOWED_ROTATION = 0.370
+
+    const val CLAW_OPENED = 0.109
+    const val CLAW_CLOSED = 0.432
+
+    /**
+     * The rotation of the box in the idle position.
+     * The box is in the idle position when it is not being dumped, and also when the lift
+     * is all the way down. Tune (DumperTestBench) with lift at 0 to avoid collisions.
+     */
+    const val BOX_ROTATE_IDLE = 0.531
+
+    /**
+     * The rotation of the box in the dumping position.
+     * Tune with the lift raised by hand.
+     */
+    const val BOX_ROTATE_DUMP = 0.316
+
+    /**
+     * Latch position such that it does not block movement of the bottom pixel in the box.
+     */
+    const val BOX_LATCH_UNLATCHED = 0.4
+
+    /**
+     * Latch position such that it blocks movement of the bottom pixel in the box.
+     */
+    const val BOX_LATCH_LATCHED = 0.78
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt

@@ -7,23 +7,29 @@ import dev.aether.collaborative_multitasking.MultitaskScheduler
 import dev.aether.collaborative_multitasking.SharedResource
 import dev.aether.collaborative_multitasking.Task
 import dev.aether.collaborative_multitasking.ext.maxDuration
-import org.firstinspires.ftc.teamcode.ClawVar
+import org.firstinspires.ftc.teamcode.Var
 
+/**
+ * This class represents the robot's claw. For manual control of the claw's positions,
+ * get a reference to the Servo from your RobotConfiguration.
+ * @see org.firstinspires.ftc.teamcode.configurations.RobotConfiguration.clawGrab
+ * @see org.firstinspires.ftc.teamcode.configurations.RobotConfiguration.clawRotate
+ *
+ * @param scheduler Scheduler used to manage the claw's tasks. If null, then methods relying on
+ *                  the scheduler will throw an AssertionError.
+ * @param grip Servo used to control the claw's grip.
+ * @param rotate Servo used to control the claw's rotation.
+ * @param lock SharedResource used to prevent the claw's tasks from running at the same time as another.
+ */
 class Claw(
-    private val scheduler: MultitaskScheduler,
+    private val scheduler: MultitaskScheduler?,
     @JvmField val grip: Servo,
     @JvmField val rotate: Servo,
     private val lock: SharedResource,
 ) {
-    companion object {
-        // Try to avoid changing these here. Instead, change them in Variables.kt.
-        const val ROTATE_HOVER = ClawVar.HoverRotation
-        const val ROTATE_CLOSING = ClawVar.ClosingRotation
-        const val ROTATE_FLIP = ClawVar.FlippedRotation
-        const val ROTATE_STOW = ClawVar.StowedRotation
-        const val GRIP_OPEN = ClawVar.ClawOpened
-        const val GRIP_CLOSED = ClawVar.ClawClosed
+    constructor(grip: Servo, rotate: Servo, lock: SharedResource) : this(null, grip, rotate, lock)
 
+    companion object {
         // TODO trim timings
         const val CloseRotateTime = 100 // ms
         const val GripTime = 450 // ms
@@ -46,7 +52,14 @@ class Claw(
 
     private var clawState: StateV2 = StateV2.Hover
 
+
+    /**
+     * Schedule a task to grab an item with the claw.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun grab() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (dep: hover) open -> grab -> hover
         var base: Task? = null
@@ -55,21 +68,27 @@ class Claw(
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                grip.position = GRIP_OPEN
-                rotate.position = ROTATE_CLOSING
+                grip.position = Var.CLAW_OPENED
+                rotate.position = Var.CLAW_CLOSING_ROTATION
             }
             maxDuration(FlipTime)
         }.then {
             +lock
             onStart { ->
-                grip.position = GRIP_CLOSED
+                grip.position = Var.CLAW_CLOSED
             }
             maxDuration(GripTime)
         }.then(gotoHover())
         base?.then(main)
     }
 
+    /**
+     * Schedule a task to drop the item that is currently in the claw into the box.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun deposit() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (dep: hover) -> deposit -> stowed
         var base: Task? = null
@@ -78,19 +97,19 @@ class Claw(
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                rotate.position = ROTATE_FLIP
+                rotate.position = Var.CLAW_FLIPPED_ROTATION
             }
             maxDuration(FlipTime)
         }.then {
             +lock
             onStart { ->
-                grip.position = GRIP_OPEN
+                grip.position = Var.CLAW_OPENED
             }
             maxDuration(GripTime)
         }.then {
             +lock
             onStart { ->
-                rotate.position = ROTATE_STOW
+                rotate.position = Var.CLAW_STOWED_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -100,18 +119,30 @@ class Claw(
         base?.then(main)
     }
 
+    /**
+     * Schedule a task to move the claw to the hovering position.
+     * Action is automatically cancelled if the claw is already in use.
+     */
     fun resetTele() {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         if (scheduler.isResourceInUse(lock)) return
         // (hover and open)
         reset()
     }
+
+    /**
+     * Schedule a task to move the claw to the hovering position.
+     */
     fun reset(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         return scheduler.task {
             +lock
             onStart { ->
                 clawState = StateV2.Active
-                grip.position = GRIP_OPEN
-                rotate.position = ROTATE_HOVER
+                grip.position = Var.CLAW_OPENED
+                rotate.position = Var.CLAW_HOVER_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -121,10 +152,12 @@ class Claw(
     }
 
     private fun gotoHover(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         return scheduler.task {
             +lock
             onStart { ->
-                rotate.position = ROTATE_HOVER
+                rotate.position = Var.CLAW_HOVER_ROTATION
             }
             maxDuration(FlipTime)
             onFinish { ->
@@ -133,13 +166,18 @@ class Claw(
         }
     }
 
+    /**
+     * WIP; schedules a task to open the claw.
+     */
     fun release(): Task {
+        scheduler
+            ?: throw AssertionError("The Claw instance needs to be defined with a scheduler to use this method")
         var base: Task? = null
         if (clawState != StateV2.Hover) base = gotoHover()
         val ext = scheduler.task {
             +lock
             onStart { ->
-                grip.position = GRIP_OPEN
+                grip.position = Var.CLAW_OPENED
             }
             maxDuration(GripTime)
         }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Dumper.kt

@@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.abstractions
 import dev.aether.collaborative_multitasking.MultitaskScheduler
 import dev.aether.collaborative_multitasking.Task
 import dev.aether.collaborative_multitasking.ext.maxDuration
+import org.firstinspires.ftc.teamcode.Var
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
 
 class Dumper(
@@ -16,11 +17,6 @@ class Dumper(
     private val lock = config.dumperLock
 
     companion object {
-        const val ROTATE_IDLE = 0.531
-        const val ROTATE_DUMP = 0.316
-        const val UNLATCHED = 0.4
-        const val LATCHED = 0.78
-
         // TODO trim timings
         const val RotateTime = 1000 // ms
         const val LatchTime = 200 // ms
@@ -41,8 +37,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump
-                rotate.position = ROTATE_DUMP
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_DUMP
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }
@@ -55,8 +51,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump
-                rotate.position = ROTATE_DUMP
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_DUMP
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }
@@ -65,7 +61,7 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Dump2
-                latch.position = UNLATCHED
+                latch.position = Var.BOX_LATCH_UNLATCHED
             }
             maxDuration(LatchTime)
         }
@@ -78,8 +74,8 @@ class Dumper(
             +lock
             onStart { ->
                 dumperState = State.Idle
-                rotate.position = ROTATE_IDLE
-                latch.position = LATCHED
+                rotate.position = Var.BOX_ROTATE_IDLE
+                latch.position = Var.BOX_LATCH_LATCHED
             }
             maxDuration(RotateTime)
         }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/NeoRobot1.kt → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/Robot.kt

@@ -5,10 +5,10 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple
 import com.qualcomm.robotcore.hardware.HardwareMap
 import com.qualcomm.robotcore.hardware.Servo
 import dev.aether.collaborative_multitasking.SharedResource
-import org.firstinspires.ftc.teamcode.utility.MotorSet
-import org.firstinspires.ftc.teamcode.utility.typedGet
+import org.firstinspires.ftc.teamcode.utilities.MotorSet
+import org.firstinspires.ftc.teamcode.utilities.typedGet
 
-class NeoRobot1(map: HardwareMap) : RobotConfiguration() {
+class Robot(map: HardwareMap) : RobotConfiguration() {
     @JvmField
     var frontLeft // 0
             : DcMotor = map.typedGet("frontLeft")

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt

@@ -5,12 +5,12 @@ import com.qualcomm.robotcore.hardware.HardwareMap
 import com.qualcomm.robotcore.hardware.Servo
 import dev.aether.collaborative_multitasking.SharedResource
 import org.firstinspires.ftc.robotcore.external.Telemetry
-import org.firstinspires.ftc.teamcode.utility.MotorSet
+import org.firstinspires.ftc.teamcode.utilities.MotorSet
 
 abstract class RobotConfiguration {
     companion object {
         @JvmStatic
-        fun currentConfiguration(): (HardwareMap) -> RobotConfiguration = ::NeoRobot1
+        fun currentConfiguration(): (HardwareMap) -> RobotConfiguration = ::Robot
     }
 
     protected abstract val driveMotors: MotorSet?

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/OdoTracker.kt

@@ -3,6 +3,9 @@ package org.firstinspires.ftc.teamcode.odo
 import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.util.ElapsedTime
 import dev.aether.collaborative_multitasking.Task
+import org.firstinspires.ftc.teamcode.utilities.LengthUnit
+import org.firstinspires.ftc.teamcode.utilities.Pose
+import org.firstinspires.ftc.teamcode.utilities.inches
 import java.util.concurrent.TimeUnit
 
 class OdoTracker(val odoPerp: DcMotor, val odoPara1: DcMotor, val odoPara2: DcMotor, val origin: Pose) {