Global Standards

Global Dependencies

• WPIlib is the framework that teams use to write code for FRC robots.
• AdvantageKit is a logging framework created by FRC team 6328 which has been released for public use.
• Gversion is an AdvantageKit dependency that creates the [BuildConstants.java] file which is important for log replay.
• Lombok is an annotation based java library that helps reduce boilerplate code by automatically generating getters, setters, etc.
• Spotless is a code formatter that automatically formats the entire project when compiled.

These dependencies should be present in the build.gradle file in each robot project.

Classes

Naming Conventions

• Classes and Enumerations should follow PascalCase.
• Variables should follow camelCase.
• Constants should follow SNAKE_CASE.

Object Instantiation

Objects should be declared and instantiated separately. Static variables should be instantiated in static blocks, while all other variables should be instantiated in a constructor, regardless of reliance on parameters:

...

public class AClass {

  public static int variable1;
  private int variable2;
  private int variable3;

  static {
    variable1 = 42;
  }

  public AClass(variable3) {
    this.variable2 = 17;
    this.variable3 = variable3;
  }

  ...
}

Modifiers

Member variables should always be private with @Getter/@Setter annotations if they require getters and/or setters. Static variables should always come before non-static variables

Constants should always have the public static final modifiers.

Default Units

190 uses these default units for all robot code:

Measurement	Unit
Linear Position	Meters
Linear Velocity	Meters per Second
Linear Acceleration	Meters per Second Squared
Angluar Position	Radians
Angular Velocity	Radians per Second
Angular Acceleration	Radians per Second Squared
Mass	Kilograms
Moment of Inertia	Kilogram Meters Squared
Force	Netwons
Torque/Moment	Newton Meters
Voltage	Volts
Current	Amps
Temperature	Celcius

190 uses radians per second for the following reasons:

• Consistency with Trigonometric Functions

  Radians are a natural unit of measurement when dealing with trigonometric functions such as sine and cosine. In calculus and physics, many formulas and equations involving angles are expressed in terms of radians. Using radians per second for angular velocity maintains consistency with these mathematical principles.

• Uniformity in Physics Equations

  In many physics equations, angular velocity appears alongside other quantities such as angular acceleration, torque, and moment of inertia. When using radians per second, these equations become simpler and more elegant, avoiding the need for conversion factors or adjustments.

• Precision and Accuracy

  Radians per second offer higher precision and accuracy compared to RPM, especially when dealing with small angles or high-speed rotations. Since radians are based on the ratio of the arc length to the radius of a circle, they provide a more precise measure of angular displacement.

Overall, while RPM may be more intuitive in the context of FRC, radians per second are preferred in code due to their consistency, simplicity, and compatibility with mathematical principles.