Adding a New Tuning Constant

To add a new constant that holds a “magic value” that can be updated to adjust how the robot behaves, first open the TuningConstants class (TuningConstants.java under core_robot\src\main\java\frc\robot) and add a new constant value. We try to keep the various constants organized, so we list them in a different section for each mechanism. Each constant is of the form:

public static final Type NAME_YELLING_SNAKE_CASE = value;

The type depends on what is being tracked, usually an int, double, or boolean.

The naming convention for our tuning constants is MECHANISMNAME_COMPONENTNAME_DESCRIPTION. The name uses “yelling snake case,” which is an all-caps form of snake case where each word or compound word is separated by the underscore character _. Within the name, MECHANISMNAME is a form of the mechanism’s name (e.g., ELEVATOR or DRIVETRAIN). COMPONENTNAME is a form of the component’s name (e.g., ENCODER, LEFT_MOTOR, or ARM). And DESCRIPTION is a description of what is being tuned, such as the number of ticks per rotation in an encoder, a gear ratio, or the length of an arm segment.