Added static classes to check for alliance side.

Author: Jetblackdragon

src/main/java/frc/robot/subsystems/auto/AutoAlgaeHeights.java

@@ -3,12 +3,11 @@
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Controls;
 import frc.robot.subsystems.SuperStructure;
 import frc.robot.subsystems.drivebase.CommandSwerveDrivetrain;
+import frc.robot.util.AllianceUtils;
 import frc.robot.util.ScoringMode;
 import java.util.List;
 
@@ -54,20 +53,14 @@ public static Command autoAlgaeIntakeCommand(
     return new AutoAlgaeHeights(drivebase, s, c);
   }
 
-  private static boolean isBlue() {
-    return DriverStation.getAlliance()
-        .map(alliance -> alliance.equals(Alliance.Blue))
-        .orElse(false);
-  }
-
   private static Pose2d getNearestAlgae(Pose2d robotPose) {
-    List<Pose2d> poses = isBlue() ? blueAlgaePoses : redAlgaePoses;
+    List<Pose2d> poses = AllianceUtils.isBlue() ? blueAlgaePoses : redAlgaePoses;
     return robotPose.nearest(poses);
   }
 
   private String aprilTagToAlgaeHeight(Pose2d algaePose) {
     // Map poses to two heights only
-    List<Pose2d> poses = isBlue() ? blueAlgaePoses : redAlgaePoses;
+    List<Pose2d> poses = AllianceUtils.isBlue() ? blueAlgaePoses : redAlgaePoses;
     int index = poses.indexOf(algaePose);
 
     if (index >= 3) {

src/main/java/frc/robot/subsystems/auto/AutoAlign.java

@@ -12,10 +12,10 @@
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Controls;
 import frc.robot.subsystems.drivebase.CommandSwerveDrivetrain;
+import frc.robot.util.AllianceUtils;
 import java.util.List;
 
 public class AutoAlign {
@@ -32,17 +32,6 @@ public static Command autoAlign(
     return new AutoAlignCommand(drivebaseSubsystem, controls, type).withName("Auto Align");
   }
 
-  public static Boolean isBlue() {
-    boolean isBlue;
-
-    if (!DriverStation.getAlliance().isEmpty()) {
-      isBlue = DriverStation.getAlliance().get().equals(Alliance.Blue);
-    } else {
-      isBlue = false;
-    }
-    return isBlue;
-  }
-
   public static boolean readyToScore() {
     return isStationary() && isLevel() && isCloseEnough(AlignType.ALLB);
   }
@@ -277,7 +266,7 @@ public static Pose2d getTargetPose(Pose2d pose, AlignType type) {
 
     private static Pose2d getNearestBranch(Pose2d p) {
       List<Pose2d> branchPose2ds =
-          isBlue()
+          AllianceUtils.isBlue()
               ? List.of(
                   blueBranchA,
                   blueBranchB,
@@ -309,7 +298,7 @@ private static Pose2d getNearestBranch(Pose2d p) {
 
     private static Pose2d getNearestLeftBranch(Pose2d p) {
       List<Pose2d> branchPose2ds =
-          isBlue()
+          AllianceUtils.isBlue()
               ? List.of(
                   blueBranchA, blueBranchC, blueBranchE, blueBranchG, blueBranchI, blueBranchK)
               : List.of(redBranchA, redBranchC, redBranchE, redBranchG, redBranchI, redBranchK);
@@ -318,7 +307,7 @@ private static Pose2d getNearestLeftBranch(Pose2d p) {
 
     private static Pose2d getNearestRightBranch(Pose2d p) {
       List<Pose2d> branchPose2ds =
-          isBlue()
+          AllianceUtils.isBlue()
               ? List.of(
                   blueBranchB, blueBranchD, blueBranchF, blueBranchH, blueBranchJ, blueBranchL)
               : List.of(redBranchB, redBranchD, redBranchF, redBranchH, redBranchJ, redBranchL);
@@ -327,7 +316,7 @@ private static Pose2d getNearestRightBranch(Pose2d p) {
 
     private static Pose2d getNearestL1L(Pose2d p) {
       List<Pose2d> reefFacesPose2ds =
-          isBlue()
+          AllianceUtils.isBlue()
               ? List.of(
                   lBlueReefFaceAB,
                   lBlueReefFaceCD,
@@ -347,7 +336,7 @@ private static Pose2d getNearestL1L(Pose2d p) {
 
     private static Pose2d getNearestL1R(Pose2d p) {
       List<Pose2d> reefFacesPose2ds =
-          isBlue()
+          AllianceUtils.isBlue()
               ? List.of(
                   rBlueReefFaceAB,
                   rBlueReefFaceCD,

src/main/java/frc/robot/subsystems/auto/AutoBuilderConfig.java

@@ -5,10 +5,10 @@
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-import edu.wpi.first.wpilibj.DriverStation;
 import frc.robot.Robot;
 import frc.robot.Subsystems;
 import frc.robot.subsystems.drivebase.CommandSwerveDrivetrain;
+import frc.robot.util.AllianceUtils;
 import java.io.IOException;
 import org.json.simple.parser.ParseException;
 
@@ -42,12 +42,7 @@ public static void buildAuto(CommandSwerveDrivetrain drivebase) {
             // Boolean supplier that controls when the path will be mirrored for the red alliance
             // This will flip the path being followed to the red side of the field.
             // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
-
-            var alliance = DriverStation.getAlliance();
-            if (alliance.isPresent()) {
-              return !AutoAlign.isBlue(); // Checking alliance is red
-            }
-            return false;
+            return AllianceUtils.isRed(); // Checking alliance is red
           },
           s.drivebaseSubsystem // Reference to this subsystem to set requirements
           );

src/main/java/frc/robot/util/AllianceUtils.java

@@ -0,0 +1,19 @@
+package frc.robot.util;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+public final class AllianceUtils {
+  public static boolean isBlue() {
+    if (!DriverStation.getAlliance().isEmpty()) {
+      return DriverStation.getAlliance().get().equals(DriverStation.Alliance.Blue);
+    }
+    return false;
+  }
+
+  public static boolean isRed() {
+    if (!DriverStation.getAlliance().isEmpty()) {
+      return DriverStation.getAlliance().get().equals(DriverStation.Alliance.Red);
+    }
+    return false;
+  }
+}