refactor(superstructure): WIP.

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

@@ -22,7 +22,7 @@ public class Arm extends Subsystem {
   /** Arm singleton. */
   private static Arm instance = null;
 
-  /** Shoulder config. */
+  /** Shoulder controller config. */
   private final MechanismConfig shoulderConfig =
       new MechanismConfig()
           .withAbsoluteEncoderConfig(
@@ -81,9 +81,8 @@ private Arm() {
 
     previousTimeSeconds = Timer.getFPGATimestamp();
 
-    setPosition(ArmState.STOW_POSITION);
-    setpoint = ArmState.STOW_POSITION;
-    goal = ArmState.STOW_POSITION;
+    setpoint = ArmState.STOWED;
+    goal = ArmState.STOWED;
   }
 
   /**

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

@@ -10,19 +10,19 @@
 public record ArmState(State shoulderRotations) {
 
   /** Stow position. */
-  public static final ArmState STOW_POSITION = new ArmState(Rotation2d.fromDegrees(-26));
+  public static final ArmState STOWED = new ArmState(Rotation2d.fromDegrees(-26));
 
   /** Subwoofer shot position. */
-  public static final ArmState SUBWOOFER_POSITION = new ArmState(Rotation2d.fromDegrees(-26));
+  public static final ArmState SUBWOOFER = new ArmState(Rotation2d.fromDegrees(-26));
 
   /** Eject position. */
-  public static final ArmState EJECT_POSITION = new ArmState(Rotation2d.fromDegrees(30));
+  public static final ArmState EJECT = new ArmState(Rotation2d.fromDegrees(30));
 
   /** Skim shot position. */
-  public static final ArmState SKIM_POSITION = new ArmState(Rotation2d.fromDegrees(30));
+  public static final ArmState SKIM = new ArmState(Rotation2d.fromDegrees(30));
 
   /** Amp position. */
-  public static final ArmState AMP_POSITION = new ArmState(Rotation2d.fromDegrees(60));
+  public static final ArmState AMP = new ArmState(Rotation2d.fromDegrees(60));
 
   /**
    * Arm state.

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

@@ -57,8 +57,6 @@ private Auto() {
     NamedCommands.registerCommand("stow", superstructure.stow());
     NamedCommands.registerCommand(
         "shoot", superstructure.subwoofer().withTimeout(1.5)); // 1 second could work
-    NamedCommands.registerCommand(
-        "shootNoPull", superstructure.subwooferNoPull().withTimeout(1.5)); // 1 second could work
     NamedCommands.registerCommand("intake", superstructure.intakeInstant());
 
     autoChooser = AutoBuilder.buildAutoChooser();

src/main/java/frc/robot/intake/Intake.java

@@ -17,7 +17,7 @@ public class Intake extends Subsystem {
   /** Intake singleton. */
   private static Intake instance = null;
 
-  /** Front roller config. */
+  /** Front roller controller config. */
   private final MechanismConfig frontRollerConfig =
       new MechanismConfig()
           .withMotorConfig(
@@ -38,7 +38,7 @@ public class Intake extends Subsystem {
                   .withProportionalGain(0.1) // volts per rotation per second
               );
 
-  /** Back roller config. */
+  /** Back roller controller config. */
   private final MechanismConfig backRollerConfig =
       new MechanismConfig()
           .withMotorConfig(
@@ -83,8 +83,8 @@ private Intake() {
 
     backRollerValues = new VelocityControllerIOValues();
 
-    setpoint = IntakeState.IDLING;
-    goal = IntakeState.IDLING;
+    setpoint = IntakeState.IDLE;
+    goal = IntakeState.IDLE;
   }
 
   /**

src/main/java/frc/robot/intake/IntakeState.java

@@ -8,10 +8,10 @@ public record IntakeState(
     double frontRollerVelocityRotationsPerSecond, double backRollerVelocityRotationsPerSecond) {
 
   /** Idling state. */
-  public static final IntakeState IDLING = new IntakeState(0, 0);
+  public static final IntakeState IDLE = new IntakeState(0, 0);
 
   /** Intaking state. */
-  public static final IntakeState INTAKING = new IntakeState(34.0, 34.0);
+  public static final IntakeState INTAKE = new IntakeState(34.0, 34.0);
 
   /** Ejecting state. */
   public static final IntakeState EJECTING = new IntakeState(-34.0, -34.0);

src/main/java/frc/robot/shooter/Shooter.java

@@ -18,6 +18,7 @@ public class Shooter extends Subsystem {
   /** Shooter singleton. */
   private static Shooter instance = null;
 
+  /** Flywheel controller config. */
   private final MechanismConfig flywheelConfig =
       new MechanismConfig()
           .withMotorConfig(
@@ -49,7 +50,7 @@ public class Shooter extends Subsystem {
   /** Flywheel controller acceleration limiter. */
   private final SlewRateLimiter flywheelAccelerationLimiter;
 
-  /** Serializer config. */
+  /** Serializer controller config. */
   private final MechanismConfig serializerConfig =
       new MechanismConfig()
           .withMotorConfig(

src/main/java/frc/robot/shooter/ShooterFactory.java

@@ -13,28 +13,28 @@
 public class ShooterFactory {
 
   /**
-   * Creates the serializer controller.
+   * Creates the flywheel controller.
    *
-   * @param config the serializer controller config.
-   * @return the serializer controller.
+   * @param config the flywheel controller config.
+   * @return the flywheel controller.
    */
-  public static VelocityControllerIO createSerializer(MechanismConfig config) {
+  public static VelocityControllerIO createFlywheel(MechanismConfig config) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SHOOTER)) {
-      return new VelocityControllerIOTalonFXPIDF(new CAN(42), config);
+      return new VelocityControllerIOTalonFXPIDF(new CAN(44), config);
     }
 
     return new VelocityControllerIOSim();
   }
 
   /**
-   * Creates the flywheel controller.
+   * Creates the serializer controller.
    *
-   * @param config the flywheel controller config.
-   * @return the flywheel controller.
+   * @param config the serializer controller config.
+   * @return the serializer controller.
    */
-  public static VelocityControllerIO createFlywheel(MechanismConfig config) {
+  public static VelocityControllerIO createSerializer(MechanismConfig config) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SHOOTER)) {
-      return new VelocityControllerIOTalonFXPIDF(new CAN(44), config);
+      return new VelocityControllerIOTalonFXPIDF(new CAN(42), config);
     }
 
     return new VelocityControllerIOSim();

src/main/java/frc/robot/shooter/ShooterState.java

@@ -11,22 +11,22 @@ public record ShooterState(
   public static final ShooterState IDLING = new ShooterState(0, 0);
 
   /** Intaking state. */
-  public static final ShooterState INTAKING = new ShooterState(0, 34);
+  public static final ShooterState INTAKE = new ShooterState(0, 34);
 
   /** Pulling state. */
-  public static final ShooterState PULLING = new ShooterState(-20, -10);
+  public static final ShooterState PULL = new ShooterState(-20, -10);
 
   /** Ejecting state. */
-  public static final ShooterState EJECTING = new ShooterState(0, -44);
+  public static final ShooterState EJECT = new ShooterState(0, -44);
 
   /** Subwoofer shooting state. */
-  public static final ShooterState SUBWOOFER_SHOOTING = new ShooterState(60, 44);
+  public static final ShooterState SUBWOOFER = new ShooterState(60, 44);
 
   /** Skim shooting state. */
-  public static final ShooterState SKIM_SHOOTING = new ShooterState(60, 44);
+  public static final ShooterState SKIM = new ShooterState(60, 44);
 
   /** Amp shooting state. */
-  public static final ShooterState AMPING = new ShooterState(10, 20);
+  public static final ShooterState AMP = new ShooterState(10, 20);
 
   /**
    * Shooter state.