even more finished

Frc5572 · Jan 24, 2024 · c0b3d5a · c0b3d5a
1 parent f863c7f
commit c0b3d5a
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -55,7 +55,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
         /* Angle Encoder Config */
         swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.cancoderInvert;
 
-        angleEncoder = new CANcoder(cancoderID, "canivore");
+        angleEncoder = new CANcoder(cancoderID, Constants.Swerve.canbus);
         angleEncoder.getConfigurator().apply(swerveCANcoderConfig);
 
         /* Angle Motor Config */
@@ -80,7 +80,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
         swerveAngleFXConfig.Slot0.kP = Constants.Swerve.angleKP;
         swerveAngleFXConfig.Slot0.kI = Constants.Swerve.angleKI;
         swerveAngleFXConfig.Slot0.kD = Constants.Swerve.angleKD;
-        mAngleMotor = new TalonFX(angleMotorID, "canivore");
+        mAngleMotor = new TalonFX(angleMotorID, Constants.Swerve.canbus);
         mAngleMotor.getConfigurator().apply(swerveAngleFXConfig);
         resetToAbsolute();
 
@@ -115,7 +115,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
             Constants.Swerve.closedLoopRamp;
         swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod =
             Constants.Swerve.closedLoopRamp;
-        mDriveMotor = new TalonFX(driveMotorID, "canivore");
+        mDriveMotor = new TalonFX(driveMotorID, Constants.Swerve.canbus);
         mDriveMotor.getConfigurator().apply(swerveDriveFXConfig);
         mDriveMotor.getConfigurator().setPosition(0.0);
     }

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -29,6 +29,7 @@ public static final class Swerve {
         public static final boolean isOpenLoop = false;
 
         /* Drivetrain Constants */
+        public static final String canbus = "canivore";
         public static final double trackWidth = Units.inchesToMeters(22.5);
         public static final double wheelBase = Units.inchesToMeters(29.0);
         public static final double wheelDiameter = Units.inchesToMeters(4.0);