Tidy HwRobot.

1 files changed, 9 insertions, 7 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index 7752bd8..f30d495 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -65,37 +65,39 @@ public class HwRobot {
 
 	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
 
+	// Actuators should be private /////////////////////////////////////////
 	private final PIDOutput
 	    rDriveM = new Talon(/*PWM*/0), /* PDP 2, 3 */
 	    lDriveM = new Talon(/*PWM*/1), /* PDP 12, 13 */
 	    climber = new Talon(/*PWM*/3); /* PDP 4 */
+	private final DoubleSolenoid
+		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
+		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
+	// Sensors/info should be public ///////////////////////////////////////
 	public final Encoder   lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false);
 	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
 	public final PIDSource lRate, rRate;
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 	public final DriverStation ds = DriverStation.getInstance();
-
-	public DoubleSolenoid
-		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
-		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
-
 	public final double axleWidth = 2.0; // in feet
 
+	// Use the constructor to initialize anything you can't
+	// initialize above.
 	public HwRobot() {
 		lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
 		rDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
 
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
 		rDriveE.setPIDSourceType(PIDSourceType.kRate);
-		PDP.initTable(NetworkTable.getTable("PDP"));
 
 		lRate = new RollingAvg(5, lDriveE);
 		rRate = new RollingAvg(5, rDriveE);
+
+		PDP.initTable(NetworkTable.getTable("PDP"));
 	}
 
 	private double maxRate = 0;
 	private double minBatt = 20;
-
 	public void run(Control c) {
 		lDriveM.pidWrite(c.lDrive);
 		rDriveM.pidWrite(-c.rDrive);