Change certain constants without having to redeploy code

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

@@ -6,6 +6,7 @@
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Preferences;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -17,8 +18,41 @@
  */
 public final class Constants {
 
-    public static final double MAX_SPEED = Units.feetToMeters(4.5);
+  public static double MAX_SPEED = Units.feetToMeters(4.5);
 
+  private static double prefDouble(String name, double defaultValue) {
+    String key = name;
+    Preferences.initDouble(key, defaultValue);
+    return Preferences.getDouble(key, defaultValue);
+  }
+
+  public static void refresh() {
+    MAX_SPEED = prefDouble("MAX_SPEED", Units.feetToMeters(4.5));
+
+    IntakeConstants.kPercentOutputIntake = prefDouble("Intake/PercentOutput", 0.50);
+    IntakeConstants.kIntakeAccel = prefDouble("Intake/Accel", 4.0);
+
+    IntakeDropConstants.kPercentOutputIntakeDrop = prefDouble("IntakeDrop/PercentOutput", 0.30);
+
+    ShootingConstants.kPercentOutputSorting = prefDouble("Shooting/PercentOutputSorting", -0.20);
+    ShootingConstants.kPercentOutputPassthrough = prefDouble("Shooting/PercentOutputPassthrough", -0.45);
+    ShootingConstants.kPercentOutputShooter = prefDouble("Shooting/PercentOutputShooter", -0.65);
+    ShootingConstants.kShooterAccel = prefDouble("Shooting/ShooterAccel", 4.0);
+
+    ShootingConstants.kShooterReferenceDistanceMeters =
+        prefDouble("Shooting/ReferenceDistanceMeters", 2.0);
+    ShootingConstants.kShooterPercentPerMeter =
+        prefDouble("Shooting/PercentPerMeter", 0.25);
+
+    AutoConstants.kMaxSpeedMetersPerSecond =
+        prefDouble("Auto/MaxSpeedMetersPerSecond", 3);
+    AutoConstants.kMaxAccelerationMetersPerSecondSquared =
+        prefDouble("Auto/MaxAccelerationMetersPerSecondSquared", 3);
+    AutoConstants.kMaxAngularSpeedRadiansPerSecond =
+        prefDouble("Auto/MaxAngularSpeedRadiansPerSecond", Math.PI);
+    AutoConstants.kMaxAngularSpeedRadiansPerSecondSquared =
+        prefDouble("Auto/MaxAngularSpeedRadiansPerSecondSquared", Math.PI);
+  }
 
   public static final class DrivebaseConstants {
     public static final double WHEEL_LOCK_TIME = 10; // seconds
@@ -39,15 +73,15 @@ public static final class OperatorConstants {
   public static final class IntakeConstants {
     // We will have to change these later
     public static final int kIntakeSparkMaxPort = 10;
-    public static final double kPercentOutputIntake = 0.50;
+    public static double kPercentOutputIntake = 0.50;
 
-    public static final double kIntakeAccel = 4.0;
+    public static double kIntakeAccel = 4.0;
   }
 
   public static final class IntakeDropConstants {
     // We will have to change these later
     public static final int kIntakeDropSparkMaxPort = 13;
-    public static final double kPercentOutputIntakeDrop = 0.30;
+    public static double kPercentOutputIntakeDrop = 0.30;
 
   }
   public static final class ShootingConstants {
@@ -56,23 +90,23 @@ public static final class ShootingConstants {
     public static final int kPassthroughSparkMaxPort = 11;
     public static final int kShooterSparkMaxPort = 9;
 
-    public static final double kShooterAccel = 4.0;
+    public static double kShooterAccel = 4.0;
 
     // We will need to change these later
-    public static final double kPercentOutputSorting = -0.20;
-    public static final double kPercentOutputPassthrough = -0.45;
-    public static final double kPercentOutputShooter = -0.65;
+    public static double kPercentOutputSorting = -0.20;
+    public static double kPercentOutputPassthrough = -0.45;
+    public static double kPercentOutputShooter = -0.65;
     // Distance (meters) where shooter uses exactly kPercentOutputShooter.
-    public static final double kShooterReferenceDistanceMeters = 2.0;
+    public static double kShooterReferenceDistanceMeters = 2.0;
     // Additional shooter output applied per meter away from reference distance.
-    public static final double kShooterPercentPerMeter = 0.25;
+    public static double kShooterPercentPerMeter = 0.25;
   }
 
   public static final class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 3;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
-    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
-    public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
+    public static double kMaxSpeedMetersPerSecond = 3;
+    public static double kMaxAccelerationMetersPerSecondSquared = 3;
+    public static double kMaxAngularSpeedRadiansPerSecond = Math.PI;
+    public static double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 
     public static final double kPXController = 1;
     public static final double kPYController = 1;

src/main/java/frc/robot/Robot.java

@@ -11,6 +11,7 @@
 import frc.robot.subsystems.Vision.Position;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import com.studica.frc.AHRS;
+import edu.wpi.first.wpilibj.Preferences;
 
 /**
  * The methods in this class are called automatically corresponding to each
@@ -43,6 +44,8 @@ public static Robot getInstance() {
    */
   @Override
   public void robotInit() {
+    Preferences.removeAll();
+    Constants.refresh();
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our
     // autonomous chooser on the dashboard.
@@ -69,6 +72,7 @@ public void robotInit() {
    */
   @Override
   public void robotPeriodic() {
+    Constants.refresh();
     // Runs the Scheduler. This is responsible for polling buttons, adding
     // newly-scheduled
     // commands, running already-scheduled commands, removing finished or