refactor: Continue WIP.

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

@@ -107,11 +107,11 @@ public Command rumble(RumbleType side) {
   }
 
   /**
-   * Gets the command to run during the autonomous period.
+   * Returns the command to run during the autonomous period.
    *
    * @return the command to run during the autonomous period.
    */
   public Command getAutonomousCommand() {
-    return auto.getAutonomousCommand();
+    return auto.getSelectedCommand();
   }
 }

src/main/java/frc/robot/arm/Arm.java

@@ -19,10 +19,10 @@
 /** Arm subsystem. */
 public class Arm extends Subsystem {
 
-  /** Arm subsystem singleton. */
+  /** Arm singleton. */
   private static Arm instance = null;
 
-  /** Shoulder's config. */
+  /** Shoulder config. */
   private final MechanismConfig shoulderConfig =
       new MechanismConfig()
           .withAbsoluteEncoderConfig(
@@ -58,10 +58,10 @@ public class Arm extends Subsystem {
   /** Motion profile of the shoulder. */
   private final TrapezoidProfile shoulderMotionProfile;
 
-  /** Arm's goal. Set by superstructure. */
+  /** Arm goal. Set by superstructure. */
   private ArmState goal;
 
-  /** Arm's setpoint. Updated periodically to reach goal within constraints. */
+  /** Arm setpoint. Updated periodically to reach goal within constraints. */
   private ArmState setpoint;
 
   /**
@@ -70,7 +70,7 @@ public class Arm extends Subsystem {
    */
   private double previousTimeSeconds;
 
-  /** Creates the arm subsystem and configures arm hardware. */
+  /** Initializes the arm subsystem and configures arm hardware. */
   private Arm() {
     shoulder = ArmFactory.createShoulder(shoulderConfig);
     shoulder.configure();
@@ -81,15 +81,15 @@ private Arm() {
 
     previousTimeSeconds = Timer.getFPGATimestamp();
 
-    setPosition(ArmState.STOW);
-    setpoint = ArmState.STOW;
-    goal = ArmState.STOW;
+    setPosition(ArmState.STOW_POSITION);
+    setpoint = ArmState.STOW_POSITION;
+    goal = ArmState.STOW_POSITION;
   }
 
   /**
-   * Gets the instance of the arm subsystem.
+   * Returns the arm subsystem instance.
    *
-   * @return the instance of the arm subsystem.
+   * @return the arm subsystem instance.
    */
   public static Arm getInstance() {
     if (instance == null) {
@@ -130,9 +130,9 @@ public void addToShuffleboard(ShuffleboardTab tab) {
   }
 
   /**
-   * Returns the arm's state.
+   * Returns the arm state.
    *
-   * @return the arm's state.
+   * @return the arm state.
    */
   public ArmState getState() {
     return new ArmState(
@@ -141,9 +141,9 @@ public ArmState getState() {
   }
 
   /**
-   * Sets the arm's goal state.
+   * Sets the arm goal state.
    *
-   * @param goal the arm's goal state.
+   * @param goal the arm goal state.
    */
   public void setGoal(ArmState goal) {
     this.goal = goal;

src/main/java/frc/robot/arm/ArmFactory.java

@@ -9,13 +9,13 @@
 import frc.robot.RobotConstants;
 import frc.robot.RobotConstants.Subsystem;
 
-/** Helper class for creating hardware for the arm subsystem. */
+/** Factory for creating arm subsystem hardware. */
 public class ArmFactory {
 
   /**
-   * Creates a shoulder motor.
+   * Creates the shoulder controller.
    *
-   * @return a shoulder motor.
+   * @return the shoulder controller.
    */
   public static PositionControllerIO createShoulder(MechanismConfig config) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.ARM)) {

src/main/java/frc/robot/arm/ArmState.java

@@ -6,28 +6,48 @@
 import edu.wpi.first.math.util.Units;
 import java.util.Objects;
 
+/** Arm state. */
 public record ArmState(State shoulderRotations) {
 
-  public static final ArmState STOW = new ArmState(Rotation2d.fromDegrees(-26));
+  /** Stow position. */
+  public static final ArmState STOW_POSITION = new ArmState(Rotation2d.fromDegrees(-26));
 
-  public static final ArmState SUBWOOFER = new ArmState(Rotation2d.fromDegrees(-26));
+  /** Subwoofer shot position. */
+  public static final ArmState SUBWOOFER_POSITION = new ArmState(Rotation2d.fromDegrees(-26));
 
-  public static final ArmState EJECT = new ArmState(Rotation2d.fromDegrees(30));
+  /** Eject position. */
+  public static final ArmState EJECT_POSITION = new ArmState(Rotation2d.fromDegrees(30));
 
-  public static final ArmState SKIM = new ArmState(Rotation2d.fromDegrees(30));
+  /** Skim shot position. */
+  public static final ArmState SKIM_POSITION = new ArmState(Rotation2d.fromDegrees(30));
 
-  public static final ArmState LOB = new ArmState(Rotation2d.fromDegrees(-26));
-
-  public static final ArmState AMP = new ArmState(Rotation2d.fromDegrees(60));
+  /** Amp position. */
+  public static final ArmState AMP_POSITION = new ArmState(Rotation2d.fromDegrees(60));
 
+  /**
+   * Arm state.
+   *
+   * @param shoulderRotations the shoulder state in rotations and rotations per second.
+   */
   public ArmState {
     Objects.requireNonNull(shoulderRotations);
   }
 
+  /**
+   * Arm state.
+   *
+   * @param shoulder the shoulder position.
+   */
   public ArmState(Rotation2d shoulder) {
     this(new State(shoulder.getRotations(), 0));
   }
 
+  /**
+   * Returns true if this arm state is at another arm state.
+   *
+   * @param other another arm state.
+   * @return true if this arm state is at another arm state.
+   */
   public boolean at(ArmState other) {
     return MathUtil.isNear(
         shoulderRotations.position,

src/main/java/frc/robot/auto/Auto.java

@@ -16,25 +16,25 @@
 import frc.robot.swerve.Swerve;
 import frc.robot.swerve.SwerveConstants;
 
-/** Subsystem class for the auto subsystem. */
+/** Auto subsystem. */
 public class Auto extends Subsystem {
 
-  /** Instance variable for the auto subsystem singleton. */
+  /** Auto singleton. */
   private static Auto instance = null;
 
-  /** Reference to the odometry subsystem. */
+  /** Odometry subsystem reference. */
   private final Odometry odometry;
 
-  /** Reference to the superstructure subsystem. */
+  /** Superstructure subsystem reference. */
   private final Superstructure superstructure;
 
-  /** Reference to the swerve subsystem. */
+  /** Swerve subsystem reference. */
   private final Swerve swerve;
 
-  /** Sendable chooser for the subsystem. */
+  /** Auto command chooser. */
   private final SendableChooser<Command> autoChooser;
 
-  /** Creates a new instance of the auto subsystem. */
+  /** Initializes the auto subsystem. */
   private Auto() {
     odometry = Odometry.getInstance();
     superstructure = Superstructure.getInstance();
@@ -65,9 +65,9 @@ private Auto() {
   }
 
   /**
-   * Gets the instance of the auto subsystem.
+   * Returns the auto subsystem instance.
    *
-   * @return the instance of the auto subsystem.
+   * @return the auto subsystem instance.
    */
   public static Auto getInstance() {
     if (instance == null) {
@@ -86,20 +86,11 @@ public void addToShuffleboard(ShuffleboardTab tab) {
   }
 
   /**
-   * Gets the command to run during the autonomous period.
+   * Returns the selected auto command.
    *
-   * @return the command to run during the autonomous period.
+   * @return the selected auto command.
    */
-  public Command getAutonomousCommand() {
+  public Command getSelectedCommand() {
     return autoChooser.getSelected();
   }
-
-  /**
-   * Gets the chooser for the command to run during the autonomous period.
-   *
-   * @return the chooser for the command to run during the autonomous period.
-   */
-  public SendableChooser<Command> getAutonomousChooser() {
-    return autoChooser;
-  }
 }