fixed leftover problems with absolute encoder offset

SFUnity · Jan 10, 2024 · 1f43f14 · 1f43f14
1 parent 0dab4fc
commit 1f43f14
Show file tree

Hide file tree

Showing 3 changed files with 2 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -81,7 +81,6 @@ public class SwerveSubsystem extends SubsystemBase implements AutoCloseable {
 
     private double[] desiredModuleStates = { 0, 0, 0, 0, 0, 0, 0, 0 };
     private double[] currentStates = { 0, 0, 0, 0, 0, 0, 0, 0 };
-    private double[] encoderOffsets = { 0, 0, 0, 0 };
 
     private final Field2d field2d = new Field2d();
     private final FieldObject2d[] modules2d = new FieldObject2d[modules.size()];
@@ -94,9 +93,6 @@ public class SwerveSubsystem extends SubsystemBase implements AutoCloseable {
     private DoubleArrayTopic m_desiredStatesTopic = inst.getDoubleArrayTopic("desired module states");
     private DoubleArrayPublisher m_desiredStatesPublisher = m_desiredStatesTopic.publish();
 
-    private DoubleArrayTopic m_encoderOffsetTopic = inst.getDoubleArrayTopic("encoder offsets");
-    private DoubleArrayPublisher m_encoderOffsetPublisher = m_encoderOffsetTopic.publish();
-
     public SwerveSubsystem() {
         /* Threads are units of code. These threads call the zeroHeading method 1 sec 
         after the robot starts without interfering with the rest of the code */
@@ -171,13 +167,6 @@ public void updatePoseEstimator(){
 
         m_statesPublisher.set(currentStates);
 
-        encoderOffsets[0] = m_frontLeft.getAbsoluteEncoderRad();
-        encoderOffsets[1] = m_frontRight.getAbsoluteEncoderRad();
-        encoderOffsets[2] = m_backLeft.getAbsoluteEncoderRad();
-        encoderOffsets[3] = m_backRight.getAbsoluteEncoderRad();
-
-        m_encoderOffsetPublisher.set(encoderOffsets);
-
         for (int i = 0; i < modules.size(); i++) {
             var transform = new Transform2d(DriveConstants.kModuleOffset[i], modules.get(i).getPosition().angle);
             modules2d[i].setPose(getPose().transformBy(transform));

diff --git a/src/main/java/frc/robot/subsystems/modules/FakeSwerveModule.java b/src/main/java/frc/robot/subsystems/modules/FakeSwerveModule.java
@@ -32,7 +32,7 @@ public SwerveModuleState getDesiredState() {
   }
 
   @Override
-  public double getAbsoluteEncoderRad(){
+  public double getAbsoluteEncoderRotations(){
     return 0.0;
   }
 

diff --git a/src/main/java/lib/SwerveModule.java b/src/main/java/lib/SwerveModule.java
@@ -35,7 +35,7 @@ public static SwerveModule create(int kDriveMotorId, int kTurningMotorId, boolea
 
   // double getTurningVelocity();
 
-  double getAbsoluteEncoderRad();
+  double getAbsoluteEncoderRotations();
 
   public default void stopMotors() {}