Refactor subsystem constructors to do as little as possible (#87)

This is recommended by the WPILib team as best practice

Also splits constants a bit and fixes constructor docs

src/main/java/frc/robot/Constants.java

@@ -9,15 +9,19 @@
 public final class Constants {
   public static final int driverport = 0;
   public static final int codriverport = 1;
+
   public static final int shooterPort = 31;
   public static final double shooterP = 0.5;
   public static final double shooterI = 0;
   public static final double shooterD = 0;
+
   public static final int climberPort = 32;
   public static final double climberP = 0.35;
   public static final double climberI = 0;
   public static final double climberD = 0;
+
   public static final int intakePort = 35;
+
   public static final double armP = 21.0;
   public static final double armI = 0;
   public static final double armD = 0.015;
@@ -28,6 +32,7 @@ public final class Constants {
   public static final int armLeadPort = 21;
   public static final int armFollowerPort = 26;
   public static final int armEncoderPort = 3;
+
   public static final double DrivebaseMaxSpeed = TunerConstants.kSpeedAt12VoltsMps;
   public static final double DrivebaseMaxAngularRate = 1.5 * Math.PI;
 }

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

@@ -29,11 +29,17 @@ public enum Setpoint {
     kStowed
   }
 
-  private final PIDController m_pid;
-  private final CANSparkMax m_primaryMotor;
-  private final CANSparkMax m_followerMotor;
-  private final DutyCycleEncoder m_encoder;
-  private final ArmFeedforward m_feedforward;
+  private final CANSparkMax m_primaryMotor =
+      new CANSparkMax(Constants.armLeadPort, MotorType.kBrushless);
+  private final CANSparkMax m_followerMotor =
+      new CANSparkMax(Constants.armFollowerPort, MotorType.kBrushless);
+  private final DutyCycleEncoder m_encoder = new DutyCycleEncoder(Constants.armEncoderPort);
+
+  private final PIDController m_pid =
+      new PIDController(Constants.armP, Constants.armI, Constants.armD);
+  private final ArmFeedforward m_feedforward =
+      new ArmFeedforward(Constants.armS, Constants.armG, Constants.armV, Constants.armA);
+
   private final DataLog m_log = DataLogManager.getLog();
   private final DoubleLogEntry log_pid_output = new DoubleLogEntry(m_log, "/arm/pid/output");
   private final DoubleLogEntry log_pid_setpoint = new DoubleLogEntry(m_log, "/arm/pid/setpoint");
@@ -44,25 +50,11 @@ public enum Setpoint {
   private final DoubleLogEntry log_ff_output = new DoubleLogEntry(m_log, "/arm/ff/output");
   private final StringLogEntry log_setpoint = new StringLogEntry(m_log, "/arm/setpoint");
 
-  public final Trigger m_atSetpoint;
+  public final Trigger m_atSetpoint = new Trigger(m_pid::atSetpoint);
 
-  /**
-   * Creates a new {@link Arm} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
-   *
-   * @param primaryMotor The primary motor that controls the arm.
-   */
+  /** Creates a new {@link Arm} {@link edu.wpi.first.wpilibj2.command.Subsystem}. */
   public Arm() {
-    m_primaryMotor = new CANSparkMax(Constants.armLeadPort, MotorType.kBrushless);
-    m_followerMotor = new CANSparkMax(Constants.armFollowerPort, MotorType.kBrushless);
     m_followerMotor.follow(m_primaryMotor);
-
-    m_encoder = new DutyCycleEncoder(Constants.armEncoderPort);
-    m_pid = new PIDController(Constants.armP, Constants.armI, Constants.armD);
-    m_pid.setTolerance(0.2);
-    m_feedforward =
-        new ArmFeedforward(Constants.armS, Constants.armG, Constants.armV, Constants.armA);
-
-    m_atSetpoint = new Trigger(m_pid::atSetpoint);
   }
 
   /** Achieves and maintains speed for the primary motor. */

src/main/java/frc/robot/subsystems/Climber.java

@@ -18,23 +18,17 @@
 
 /** Our Crescendo climber Subsystem */
 public class Climber extends SubsystemBase {
-  private final PIDController m_pid;
-  private final CANSparkMax m_motor;
-  private final RelativeEncoder m_encoder;
+  private final CANSparkMax m_motor = new CANSparkMax(Constants.climberPort, MotorType.kBrushless);
+  private final RelativeEncoder m_encoder = m_motor.getEncoder();
+
+  private final PIDController m_pid =
+      new PIDController(Constants.climberP, Constants.climberI, Constants.climberD);
+
   private final DoubleLogEntry log_pid_output =
       new DoubleLogEntry(DataLogManager.getLog(), "/climber/pid/output");
 
-  /**
-   * Creates a new {@link Climber} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
-   *
-   * @param motor The motor that the climber controls.
-   */
-  public Climber() {
-    m_motor = new CANSparkMax(Constants.climberPort, MotorType.kBrushless);
-    m_encoder = m_motor.getEncoder();
-    m_pid = new PIDController(Constants.climberP, Constants.climberI, Constants.climberD);
-    m_pid.setTolerance(0.2, 0.5);
-  }
+  /** Creates a new {@link Climber} {@link edu.wpi.first.wpilibj2.command.Subsystem}. */
+  public Climber() {}
 
   /**
    * Climb the robot!

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

@@ -14,13 +14,12 @@
 import frc.robot.Constants;
 
 public class Intake extends SubsystemBase {
-  private final CANSparkMax m_motor;
+  private final CANSparkMax m_motor = new CANSparkMax(Constants.intakePort, MotorType.kBrushless);
+
   private final DoubleLogEntry log_output =
       new DoubleLogEntry(DataLogManager.getLog(), "/intake/output");
 
-  public Intake() {
-    m_motor = new CANSparkMax(Constants.intakePort, MotorType.kBrushless);
-  }
+  public Intake() {}
 
   public Command intake() {
     return Commands.run(

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

@@ -20,26 +20,19 @@
 
 /** Our Crescendo shooter Subsystem */
 public class Shooter extends SubsystemBase {
-  private final PIDController m_pid;
-  private final CANSparkMax m_motor;
-  private final RelativeEncoder m_encoder;
+  private final PIDController m_pid =
+      new PIDController(Constants.shooterP, Constants.shooterI, Constants.shooterD);
+  private final CANSparkMax m_motor = new CANSparkMax(Constants.shooterPort, MotorType.kBrushless);
+  private final RelativeEncoder m_encoder = m_motor.getEncoder();
+
   private final DataLog m_log = DataLogManager.getLog();
   private final DoubleLogEntry log_pid_output = new DoubleLogEntry(m_log, "/shooter/pid/output");
 
-  public final Trigger m_atSetpoint;
-
-  /**
-   * Creates a new {@link Shooter} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
-   *
-   * @param motor The motor that the shooter controls.
-   */
-  public Shooter() {
-    m_motor = new CANSparkMax(Constants.shooterPort, MotorType.kBrushless);
-    m_encoder = m_motor.getEncoder();
-    m_pid = new PIDController(Constants.shooterP, Constants.shooterI, Constants.shooterD);
+  public final Trigger m_atSetpoint = new Trigger(m_pid::atSetpoint);
+  ;
 
-    m_atSetpoint = new Trigger(m_pid::atSetpoint);
-  }
+  /** Creates a new {@link Shooter} {@link edu.wpi.first.wpilibj2.command.Subsystem}. */
+  public Shooter() {}
 
   /** Acheives and maintains speed. */
   private Command achieveSpeeds(double speed) {