updated constants

Frc5572 · Jan 25, 2024 · f455d59 · f455d59
1 parent 3ffb110
commit f455d59
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Showing 5 changed files with 53 additions and 56 deletions.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -90,7 +90,7 @@ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) {
      * @return The rotation of the CANCoder in {@link Rotation2d}
      */
     public Rotation2d getCANcoder() {
-        return Rotation2d.fromRotations(io.getAbsolutePositionAngleEncoder().getValue());
+        return Rotation2d.fromRotations(io.getAbsolutePositionAngleEncoder());
     }
 
     /**
@@ -108,9 +108,8 @@ public void resetToAbsolute() {
      */
     public SwerveModuleState getState() {
         return new SwerveModuleState(
-            Conversions.RPSToMPS(io.getVelocityDriveMotor().getValue(),
-                Constants.Swerve.wheelCircumference),
-            Rotation2d.fromRotations(io.getPositionAngleMotor().getValue()));
+            Conversions.RPSToMPS(io.getVelocityDriveMotor(), Constants.Swerve.wheelCircumference),
+            Rotation2d.fromRotations(io.getPositionAngleMotor()));
     }
 
     /**
@@ -120,9 +119,9 @@ public SwerveModuleState getState() {
      */
     public SwerveModulePosition getPosition() {
         return new SwerveModulePosition(
-            Conversions.rotationsToMeters(io.getPositionDriveMotor().getValue(),
+            Conversions.rotationsToMeters(io.getPositionDriveMotor(),
                 Constants.Swerve.wheelCircumference),
-            Rotation2d.fromRotations(io.getPositionAngleMotor().getValue()));
+            Rotation2d.fromRotations(io.getPositionAngleMotor()));
 
     }
 }
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleIO.java b/src/main/java/frc/lib/util/swerve/SwerveModuleIO.java
@@ -1,7 +1,6 @@
 package frc.lib.util.swerve;
 
 import org.littletonrobotics.junction.AutoLog;
-import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.controls.ControlRequest;
 
 /** IO Class for SwerveModule */
@@ -26,22 +25,22 @@ public default void setAngleMotor(ControlRequest request) {}
 
     public default void setAngleSelectedSensorPosition(double angle) {}
 
-    public default StatusSignal<Double> getAbsolutePositionAngleEncoder() {
-        return null;
+    public default double getAbsolutePositionAngleEncoder() {
+        return 0.0;
     }
 
     public default void setPositionAngleMotor(double absolutePosition) {}
 
-    public default StatusSignal<Double> getVelocityDriveMotor() {
-        return null;
+    public default double getVelocityDriveMotor() {
+        return 0.0;
     }
 
-    public default StatusSignal<Double> getPositionAngleMotor() {
-        return null;
+    public default double getPositionAngleMotor() {
+        return 0.0;
     }
 
-    public default StatusSignal<Double> getPositionDriveMotor() {
-        return null;
+    public default double getPositionDriveMotor() {
+        return 0.0;
     }
 
 }
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java b/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java
@@ -1,6 +1,5 @@
 package frc.lib.util.swerve;
 
-import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.ControlRequest;
@@ -111,8 +110,8 @@ public void setDriveMotor(ControlRequest request) {
     }
 
     @Override
-    public StatusSignal<Double> getAbsolutePositionAngleEncoder() {
-        return angleEncoder.getAbsolutePosition();
+    public double getAbsolutePositionAngleEncoder() {
+        return angleEncoder.getAbsolutePosition().getValueAsDouble();
     }
 
     @Override
@@ -121,18 +120,18 @@ public void setPositionAngleMotor(double absolutePosition) {
     }
 
     @Override
-    public StatusSignal<Double> getVelocityDriveMotor() {
-        return mDriveMotor.getVelocity();
+    public double getVelocityDriveMotor() {
+        return mDriveMotor.getVelocity().getValueAsDouble();
     }
 
     @Override
-    public StatusSignal<Double> getPositionAngleMotor() {
-        return mAngleMotor.getPosition();
+    public double getPositionAngleMotor() {
+        return mAngleMotor.getPosition().getValueAsDouble();
     }
 
     @Override
-    public StatusSignal<Double> getPositionDriveMotor() {
-        return mDriveMotor.getPosition();
+    public double getPositionDriveMotor() {
+        return mDriveMotor.getPosition().getValueAsDouble();
     }
 
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -105,43 +105,43 @@ public static final class Swerve {
 
         /* Module Specific Constants */
         /**
-         * Front Left Module - Module 0
+         * Front Left Module - Module 0.
          */
         public static final class Mod0 {
-            public static final int driveMotorID = 10;
-            public static final int angleMotorID = 8;
-            public static final int canCoderID = 10;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(115.400390625);
+            public static final int DRIVE_MOTOR_ID = 6;
+            public static final int ANGLE_MOTOR_ID = 8;
+            public static final int CAN_CODER_ID = 4;
+            public static final Rotation2d ANGLE_OFFSET = Rotation2d.fromDegrees(138.604);
         }
 
         /**
-         * Front Right Module - Module 1
+         * Front Right Module - Module 1.
          */
         public static final class Mod1 {
-            public static final int driveMotorID = 3;
-            public static final int angleMotorID = 9;
-            public static final int canCoderID = 1;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(-55.37109375);
+            public static final int DRIVE_MOTOR_ID = 1;
+            public static final int ANGLE_MOTOR_ID = 4;
+            public static final int CAN_CODER_ID = 1;
+            public static final Rotation2d ANGLE_OFFSET = Rotation2d.fromDegrees(280.107);
         }
 
         /**
-         * Back Left Module - Module 2
+         * Back Left Module - Module 2.
          */
         public static final class Mod2 {
-            public static final int driveMotorID = 2;
-            public static final int angleMotorID = 40;
-            public static final int canCoderID = 2;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(145.01953125);
+            public static final int DRIVE_MOTOR_ID = 3;
+            public static final int ANGLE_MOTOR_ID = 2;
+            public static final int CAN_CODER_ID = 2;
+            public static final Rotation2d ANGLE_OFFSET = Rotation2d.fromDegrees(121.553);
         }
 
         /**
-         * Back Right Module - Module 3
+         * Back Right Module - Module 3.
          */
         public static final class Mod3 {
-            public static final int driveMotorID = 6;
-            public static final int angleMotorID = 51;
-            public static final int canCoderID = 4;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(3.955078125);
+            public static final int DRIVE_MOTOR_ID = 7;
+            public static final int ANGLE_MOTOR_ID = 5;
+            public static final int CAN_CODER_ID = 3;
+            public static final Rotation2d ANGLE_OFFSET = Rotation2d.fromDegrees(248.027);
         }
 
         public static final HolonomicPathFollowerConfig pathFollowerConfig =

diff --git a/src/main/java/frc/robot/subsystems/swerve/Swerve.java b/src/main/java/frc/robot/subsystems/swerve/Swerve.java
@@ -32,18 +32,18 @@ public class Swerve extends SubsystemBase {
      */
     public Swerve(SwerveIO swerveIO) {
         swerveMods = new SwerveModule[] {
-            swerveIO.createSwerveModule(0, Constants.Swerve.Mod0.driveMotorID,
-                Constants.Swerve.Mod0.angleMotorID, Constants.Swerve.Mod0.canCoderID,
-                Constants.Swerve.Mod0.angleOffset),
-            swerveIO.createSwerveModule(1, Constants.Swerve.Mod1.driveMotorID,
-                Constants.Swerve.Mod1.angleMotorID, Constants.Swerve.Mod1.canCoderID,
-                Constants.Swerve.Mod1.angleOffset),
-            swerveIO.createSwerveModule(2, Constants.Swerve.Mod2.driveMotorID,
-                Constants.Swerve.Mod2.angleMotorID, Constants.Swerve.Mod2.canCoderID,
-                Constants.Swerve.Mod2.angleOffset),
-            swerveIO.createSwerveModule(3, Constants.Swerve.Mod3.driveMotorID,
-                Constants.Swerve.Mod3.angleMotorID, Constants.Swerve.Mod3.canCoderID,
-                Constants.Swerve.Mod3.angleOffset)};
+            swerveIO.createSwerveModule(0, Constants.Swerve.Mod0.DRIVE_MOTOR_ID,
+                Constants.Swerve.Mod0.ANGLE_MOTOR_ID, Constants.Swerve.Mod0.CAN_CODER_ID,
+                Constants.Swerve.Mod0.ANGLE_OFFSET),
+            swerveIO.createSwerveModule(1, Constants.Swerve.Mod1.DRIVE_MOTOR_ID,
+                Constants.Swerve.Mod1.ANGLE_MOTOR_ID, Constants.Swerve.Mod1.CAN_CODER_ID,
+                Constants.Swerve.Mod1.ANGLE_OFFSET),
+            swerveIO.createSwerveModule(2, Constants.Swerve.Mod2.DRIVE_MOTOR_ID,
+                Constants.Swerve.Mod2.ANGLE_MOTOR_ID, Constants.Swerve.Mod2.CAN_CODER_ID,
+                Constants.Swerve.Mod2.ANGLE_OFFSET),
+            swerveIO.createSwerveModule(3, Constants.Swerve.Mod3.DRIVE_MOTOR_ID,
+                Constants.Swerve.Mod3.ANGLE_MOTOR_ID, Constants.Swerve.Mod3.CAN_CODER_ID,
+                Constants.Swerve.Mod3.ANGLE_OFFSET)};
 
         swerveOdometry = new SwerveDriveOdometry(Constants.Swerve.swerveKinematics, getGyroYaw(),
             getModulePositions());