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[commands] Revert SubsystemBase deprecation/removal (#5634)

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This commit is contained in:
Ryan Blue
2023-09-14 23:56:48 -04:00
committed by GitHub
parent bc7f23a632
commit 3b79cb6ed3
80 changed files with 370 additions and 375 deletions
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4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.commands.subsystem2;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class ReplaceMeSubsystem extends Subsystem {
public class ReplaceMeSubsystem extends SubsystemBase {
/** Creates a new ReplaceMeSubsystem. */
public ReplaceMeSubsystem() {}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
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@@ -11,10 +11,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import java.util.function.DoubleSupplier;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final ExampleSmartMotorController m_leftLeader =
new ExampleSmartMotorController(DriveConstants.kLeftMotor1Port);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
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@@ -8,13 +8,13 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.examples.gearsbot.Constants.ClawConstants;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* The claw subsystem is a simple system with a motor for opening and closing. If using stronger
* motors, you should probably use a sensor so that the motors don't stall.
*/
public class Claw extends Subsystem {
public class Claw extends SubsystemBase {
private final Victor m_motor = new Victor(ClawConstants.kMotorPort);
private final DigitalInput m_contact = new DigitalInput(ClawConstants.kContactPort);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Drivetrain.java
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@@ -14,9 +14,9 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends Subsystem {
public class Drivetrain extends SubsystemBase {
/**
* The Drivetrain subsystem incorporates the sensors and actuators attached to the robots chassis.
* These include four drive motors, a left and right encoder and a gyro.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
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@@ -12,10 +12,10 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
public class HatchSubsystem extends Subsystem {
public class HatchSubsystem extends SubsystemBase {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
PneumaticsModuleType.CTREPCM,

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
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@@ -11,10 +11,10 @@ import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
public class HatchSubsystem extends Subsystem {
public class HatchSubsystem extends SubsystemBase {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
PneumaticsModuleType.CTREPCM,

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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@@ -14,9 +14,9 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
private final PWMSparkMax m_frontLeft = new PWMSparkMax(DriveConstants.kFrontLeftMotorPort);
private final PWMSparkMax m_rearLeft = new PWMSparkMax(DriveConstants.kRearLeftMotorPort);
private final PWMSparkMax m_frontRight = new PWMSparkMax(DriveConstants.kFrontRightMotorPort);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
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@@ -13,9 +13,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
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@@ -10,10 +10,10 @@ import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.DriveConsta
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import java.util.function.DoubleSupplier;
public class Drive extends Subsystem {
public class Drive extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Intake.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Intake extends Subsystem {
public class Intake extends SubsystemBase {
private final PWMSparkMax m_motor = new PWMSparkMax(IntakeConstants.kMotorPort);
// Double solenoid connected to two channels of a PCM with the default CAN ID

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
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@@ -9,10 +9,10 @@ import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/** Subsystem for managing the compressor, pressure sensor, etc. */
public class Pneumatics extends Subsystem {
public class Pneumatics extends SubsystemBase {
// External analog pressure sensor
// product-specific voltage->pressure conversion, see product manual
// in this case, 250(V/5)-25

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java
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@@ -13,9 +13,9 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Shooter extends Subsystem {
public class Shooter extends SubsystemBase {
private final PWMSparkMax m_shooterMotor = new PWMSparkMax(ShooterConstants.kShooterMotorPort);
private final PWMSparkMax m_feederMotor = new PWMSparkMax(ShooterConstants.kFeederMotorPort);
private final Encoder m_shooterEncoder =

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
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@@ -9,9 +9,9 @@ import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.Stor
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Storage extends Subsystem {
public class Storage extends SubsystemBase {
private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends Subsystem {
public class Drivetrain extends SubsystemBase {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75591; // 70 mm

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
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@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.Subsystem;
* <p>DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C
* (input) or Red LED (output) DIO 3 - Yellow LED (output only)
*/
public class OnBoardIO extends Subsystem {
public class OnBoardIO extends SubsystemBase {
private final DigitalInput m_buttonA = new DigitalInput(0);
private final DigitalOutput m_yellowLed = new DigitalOutput(3);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
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@@ -22,9 +22,9 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
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@@ -12,9 +12,9 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends Subsystem {
public class DriveSubsystem extends SubsystemBase {
// Robot swerve modules
private final SwerveModule m_frontLeft =
new SwerveModule(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.xrpreference.subsystems;
import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPServo;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends Subsystem {
public class Arm extends SubsystemBase {
private final XRPServo m_armServo;
/** Creates a new Arm. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPMotor;
import edu.wpi.first.wpilibj.examples.xrpreference.sensors.XRPGyro;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends Subsystem {
public class Drivetrain extends SubsystemBase {
private static final double kGearRatio =
(30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0); // 48.75:1
private static final double kCountsPerMotorShaftRev = 12.0;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java
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@@ -6,13 +6,13 @@ package edu.wpi.first.wpilibj.examples.xrpreference.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* This class represents the onboard IO of the XRP Reference Robot. This includes the USER
* pushbutton and LED
*/
public class XRPOnBoardIO extends Subsystem {
public class XRPOnBoardIO extends SubsystemBase {
private final DigitalInput m_button = new DigitalInput(0);
private final DigitalOutput m_led = new DigitalOutput(1);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class ExampleSubsystem extends Subsystem {
public class ExampleSubsystem extends SubsystemBase {
/** Creates a new ExampleSubsystem. */
public ExampleSubsystem() {}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
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@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class RomiDrivetrain extends Subsystem {
public class RomiDrivetrain extends SubsystemBase {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75591; // 70 mm

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java
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@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.templates.xrpcommandbased.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.templates.xrpcommandbased.devices.XRPMotor;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class XRPDrivetrain extends Subsystem {
public class XRPDrivetrain extends SubsystemBase {
private static final double kGearRatio =
(30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0); // 48.75:1
private static final double kCountsPerMotorShaftRev = 12.0;