Rename m_applyRobotSpeeds and m_applyFieldSpeeds to mention path foll…

…owing
CrossTheRoadElec · Oct 31, 2024 · 53fa17b · 53fa17b
1 parent c3385ff
commit 53fa17b
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Showing 6 changed files with 12 additions and 12 deletions.
diff --git a/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp b/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
@@ -24,7 +24,7 @@ void CommandSwerveDrivetrain::FollowPath(frc::Pose2d const &pose, choreo::Swerve
     std::vector moduleForcesY(sample.moduleForcesY.begin(), sample.moduleForcesY.end());
 
     SetControl(
-        m_applyFieldSpeeds.WithSpeeds(targetSpeeds)
+        m_pathApplyFieldSpeeds.WithSpeeds(targetSpeeds)
             .WithWheelForceFeedforwardsX(std::move(moduleForcesX))
             .WithWheelForceFeedforwardsY(std::move(moduleForcesY))
     );

diff --git a/cpp/SwerveWithChoreo/src/main/include/subsystems/CommandSwerveDrivetrain.h b/cpp/SwerveWithChoreo/src/main/include/subsystems/CommandSwerveDrivetrain.h
@@ -31,8 +31,8 @@ class CommandSwerveDrivetrain : public frc2::SubsystemBase, public swerve::Swerv
     /* Keep track if we've ever applied the operator perspective before or not */
     bool m_hasAppliedOperatorPerspective = false;
 
-    /* Swerve request to apply during path following */
-    swerve::requests::ApplyFieldSpeeds m_applyFieldSpeeds;
+    /** Swerve request to apply during field-centric path following */
+    swerve::requests::ApplyFieldSpeeds m_pathApplyFieldSpeeds;
     frc::PIDController m_pathXController{10, 0, 0};
     frc::PIDController m_pathYController{10, 0, 0};
     frc::PIDController m_pathThetaController{7, 0, 0};

diff --git a/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp b/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
@@ -17,7 +17,7 @@ void CommandSwerveDrivetrain::ConfigureAutoBuilder()
         // Consumer of ChassisSpeeds and feedforwards to drive the robot
         [this](frc::ChassisSpeeds const &speeds, pathplanner::DriveFeedforwards const &feedforwards) {
             return SetControl(
-                m_applyRobotSpeeds.WithSpeeds(speeds)
+                m_pathApplyRobotSpeeds.WithSpeeds(speeds)
                     .WithWheelForceFeedforwardsX(feedforwards.robotRelativeForcesX)
                     .WithWheelForceFeedforwardsY(feedforwards.robotRelativeForcesY)
             );

diff --git a/cpp/SwerveWithPathPlanner/src/main/include/subsystems/CommandSwerveDrivetrain.h b/cpp/SwerveWithPathPlanner/src/main/include/subsystems/CommandSwerveDrivetrain.h
@@ -29,8 +29,8 @@ class CommandSwerveDrivetrain : public frc2::SubsystemBase, public swerve::Swerv
     /* Keep track if we've ever applied the operator perspective before or not */
     bool m_hasAppliedOperatorPerspective = false;
 
-    /* Swerve request to apply during path following */
-    swerve::requests::ApplyRobotSpeeds m_applyRobotSpeeds;
+    /** Swerve request to apply during robot-centric path following */
+    swerve::requests::ApplyRobotSpeeds m_pathApplyRobotSpeeds;
 
     /* Swerve requests to apply during SysId characterization */
     swerve::requests::SysIdSwerveTranslation m_translationCharacterization;

diff --git a/java/SwerveWithChoreo/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/java/SwerveWithChoreo/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -42,8 +42,8 @@ public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsyst
     /* Keep track if we've ever applied the operator perspective before or not */
     private boolean m_hasAppliedOperatorPerspective = false;
 
-    /* Swerve request to apply during path following */
-    private final SwerveRequest.ApplyFieldSpeeds m_applyFieldSpeeds = new SwerveRequest.ApplyFieldSpeeds();
+    /** Swerve request to apply during field-centric path following */
+    private final SwerveRequest.ApplyFieldSpeeds m_pathApplyFieldSpeeds = new SwerveRequest.ApplyFieldSpeeds();
     private final PIDController m_pathXController = new PIDController(10, 0, 0);
     private final PIDController m_pathYController = new PIDController(10, 0, 0);
     private final PIDController m_pathThetaController = new PIDController(7, 0, 0);
@@ -208,7 +208,7 @@ public void followPath(Pose2d pose, SwerveSample sample) {
         );
 
         setControl(
-            m_applyFieldSpeeds.withSpeeds(targetSpeeds)
+            m_pathApplyFieldSpeeds.withSpeeds(targetSpeeds)
                 .withWheelForceFeedforwardsX(sample.moduleForcesX())
                 .withWheelForceFeedforwardsY(sample.moduleForcesY())
         );

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -44,8 +44,8 @@ public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsyst
     /* Keep track if we've ever applied the operator perspective before or not */
     private boolean m_hasAppliedOperatorPerspective = false;
 
-    /* Swerve request to apply during path following */
-    private final SwerveRequest.ApplyRobotSpeeds m_applyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
+    /** Swerve request to apply during robot-centric path following */
+    private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
     /* Swerve requests to apply during SysId characterization */
     private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
@@ -188,7 +188,7 @@ private void configureAutoBuilder() {
                 () -> getState().Speeds, // Supplier of current robot speeds
                 // Consumer of ChassisSpeeds and feedforwards to drive the robot
                 (speeds, feedforwards) -> setControl(
-                    m_applyRobotSpeeds.withSpeeds(speeds)
+                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
                         .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
                         .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
                 ),