Gladiator Robotics Java Robot Code Style Guide

Refer to Java Style Guide for more in-depth style guidelines.

Table of Contents

• Code Styling
  • General Guidelines
  • Naming Conventions
  • File Structure
  • Code Documentation
• Example

Code Styling

General Guidelines

• One statement per line.
• No while(true) {} loops.
• No public variables, use getters and setters.
• Exactly one top level class definition in file.
• WPILib will automatically generate with 2 space indents, switch to 4 spaces for all the code you write.
• Exactly one space before opening brace, no new line.
• Line break before closing brace.
• Horizontal alignment not required.
• No implicit return.
• Commands should always have a name (see example below).
• Use radians as default angle messure.

Naming Conventions

• File Names - PascalCase
• Classes/Enum/Interfaces - PascalCase
• Methods - camelCase
• Variables - camelCase
  • Constants - kPascalCase
  • Members Variables - m_camelCase
• Command Factories - getCommandNameCommand

File Structure

1. Package statements
2. Import statements (new lines seperate vendors)
3. Top level class declaration

Code Documentation

• Code should be readable, but if it isn't, document it!
• Follow the documentation in the example below so VSCode can read it and use to give info when hovering functions

Example

/** 
* Represents a command-based swerve drivetrain
*/
public class SwerveSubsystem extends SubsystemBase {
    /**
    * @return a Command object that drives with given joystick inputs
    * @param joyLeftX left joystick x value supplier
    * @param joyLeftY left joystick y value supplier
    * @param joyRightX right joystick x value supplier
    * @param fieldRelative drive fieldRelative supplier
    */
    public Command getDriveWithJoystickCommand(
        DoubleSupplier joyLeftX,
        DoubleSupplier joyLeftY,
        DoubleSupplier joyRightX,
        BooleanSupplier fieldRelative) {
        return this.run(() -> {
            // get joystick axises
            double vx = MathUtil.applyDeadband(joyLeftX.getAsDouble(), Constants.DriveTeamConstants.kJoystickDeadzone);
            double vy = MathUtil.applyDeadband(joyLeftY.getAsDouble(), Constants.DriveTeamConstants.kJoystickDeadzone);
            double rot = MathUtil.applyDeadband(joyRightX.getAsDouble(), Constants.DriveTeamConstants.kJoystickDeadzone);

            // apply max speeds
            vx *= m_maxSpeed;
            vy *= m_maxSpeed;
            rot *= m_maxAngularSpeed;

            drive(vx, vy, rot, fieldRelative.getAsBoolean());
        }).withName("DriveWithJoystickCommand");
    }
}