Make arm match

[JosephTLockwood]

Summary by CodeRabbit

• Refactor
  • Revised terminology in robotics controls by replacing "position" with "mode" for enhanced clarity.
  • Updated command labeling to better reflect the current functionality in both arm and flywheel operations.

[coderabbitai]

📝 Walkthrough

Walkthrough

The changes update method names, parameter names, and documentation in the Arm and Flywheel subsystems to use "mode" terminology instead of "position" or "velocity." In the Arm class, methods such as getMode(), setArmMode(...), and the documentation for setPositionCommand(...) have been updated, while the underlying logic remains identical. In the Flywheel class, the command name in the setVelocityCommand(...) method has been revised from referencing velocity to referencing mode.

Changes

File(s)	Change Summary
src/.../arm/Arm.java	- Updated getMode() to return ArmMode instead of ArmPosition. - Renamed setArmPosition(ArmMode position) to setArmMode(ArmMode mode) and updated its parameter. - Modified documentation in setPositionCommand(ArmMode mode) to reflect arm mode terminology.
src/.../flywheel/Flywheel.java	Updated the command name in setVelocityCommand(FlywheelMode mode) from "SetFlywheelVelocity(...)" to "SetFlywheelMode(...)" to better represent its functionality.

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[coderabbitai]

Actionable comments posted: 0

🧹 Nitpick comments (1)

src/main/java/frc/robot/subsystems/arm/Arm.java (1)

184-188: Consider renaming method for full consistency.

While the documentation has been updated to use "mode" terminology, consider renaming setPositionCommand to setModeCommand for complete consistency with the new terminology.

-  private Command setPositionCommand(ArmMode mode) {
+  private Command setModeCommand(ArmMode mode) {

Don't forget to update all references to this method in the factory methods (L1(), L2(), etc.).

📜 Review details

Configuration used: CodeRabbit UI
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between d379638 and a0a6776.

📒 Files selected for processing (2)

• src/main/java/frc/robot/subsystems/arm/Arm.java (2 hunks)
• src/main/java/frc/robot/subsystems/flywheel/Flywheel.java (1 hunks)

🔇 Additional comments (4)

src/main/java/frc/robot/subsystems/flywheel/Flywheel.java (1)

181-181: LGTM! Command name updated for consistency.

The command name has been updated from "SetFlywheelVelocity" to "SetFlywheelMode" to align with the mode-based terminology used throughout the codebase.

src/main/java/frc/robot/subsystems/arm/Arm.java (3)

113-113: LGTM! Documentation updated to reflect correct return type.

The return type documentation has been updated from "ArmPosition" to "ArmMode" to match the actual return type.

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120-128: LGTM! Method renamed for consistency.

The method has been renamed from setArmPosition to setArmMode and its parameter updated from position to mode to align with the mode-based terminology. The functionality remains unchanged.

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190-191: LGTM! Command name updated for consistency.

The command name has been updated from "SetArmPosition" to "SetArmMode" to align with the mode-based terminology used throughout the codebase.