Updated RealSwerveModule and its tests

SFUnity · Sep 12, 2023 · 55b0096 · 55b0096
1 parent 79343b9
commit 55b0096
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Showing 2 changed files with 29 additions and 37 deletions.
diff --git a/src/main/java/frc/robot/subsystems/RealSwerveModule.java b/src/main/java/frc/robot/subsystems/RealSwerveModule.java
@@ -73,20 +73,27 @@ public RealSwerveModule(CANSparkMax driveMotor, CANSparkMax turningMotor,
         resetEncoders();
     }
 
-    public double getDrivePosition() {
-        return m_driveEncoder.getPosition();
+    public SwerveModuleState getState() {
+        return new SwerveModuleState(getDriveVelocity(), new Rotation2d(getTurningPosition()));
     }
 
-    public double getTurningPosition() {
-        return m_turningEncoder.getPosition();
+    public SwerveModulePosition getPosition() {
+        return new SwerveModulePosition(getDrivePosition(), new Rotation2d(getTurningPosition()));
     }
 
-    public double getDriveVelocity() {
-        return m_driveEncoder.getVelocity();
+    public void setDesiredState(SwerveModuleState state) {
+        m_driveMotor.set(state.speedMetersPerSecond / DriveConstants.kPhysicalMaxSpeedMetersPerSecond);
+        state = SwerveModuleState.optimize(state, getState().angle);
+        double desiredTurnSpeed = turningPidController.calculate(getTurningPosition(), state.angle.getRadians());
+        m_turningMotor.set(desiredTurnSpeed);
+
+        desiredState = state;
+        SmartDashboard.putString("Swerve[" + m_absoluteEncoder.getChannel() + "] state", state.toString());
     }
 
-    public double getTurningVelocity() {
-        return m_turningEncoder.getVelocity();
+    public void resetEncoders() {
+        m_driveEncoder.setPosition(0);
+        m_turningEncoder.setPosition(getAbsoluteEncoderRad());
     }
 
     public double getAbsoluteEncoderRad() {
@@ -96,38 +103,24 @@ public double getAbsoluteEncoderRad() {
         return angle * (kAbsoluteEncoderReversed ? -1.0 : 1.0); // Look up ternary or conditional operators in java
     }
 
-    public void resetEncoders() {
-        m_driveEncoder.setPosition(0);
-        m_turningEncoder.setPosition(getAbsoluteEncoderRad());
+    public SwerveModuleState getDesiredState() {
+        return desiredState;
     }
 
-    public SwerveModuleState getState() {
-        return new SwerveModuleState(getDriveVelocity(), new Rotation2d(getTurningPosition()));
+    public double getDrivePosition() {
+        return m_driveEncoder.getPosition();
     }
 
-    public SwerveModulePosition getPosition() {
-        return new SwerveModulePosition(getDrivePosition(), new Rotation2d(getTurningPosition()));
+    public double getTurningPosition() {
+        return m_turningEncoder.getPosition();
     }
 
-    public void setDesiredState(SwerveModuleState state) {
-        if (Math.abs(state.speedMetersPerSecond) < 0.001) {
-            m_driveMotor.set(0);
-        } else {
-            m_driveMotor.set(state.speedMetersPerSecond / DriveConstants.kPhysicalMaxSpeedMetersPerSecond);
-        }
-        state = SwerveModuleState.optimize(state, getState().angle);
-        double desiredTurnSpeed = turningPidController.calculate(getTurningPosition(), state.angle.getRadians());
-        if (Math.abs(desiredTurnSpeed) < 0.001) {
-            m_turningMotor.set(0);
-        } else {
-            m_turningMotor.set(desiredTurnSpeed);
-        }
-
-        SmartDashboard.putString("Swerve[" + m_absoluteEncoder.getChannel() + "] state", state.toString());
+    public double getDriveVelocity() {
+        return m_driveEncoder.getVelocity();
     }
 
-    public SwerveModuleState getDesiredState() {
-        return desiredState;
+    public double getTurningVelocity() {
+        return m_turningEncoder.getVelocity();
     }
 
     public void stopMotors() {

diff --git a/src/test/java/SwerveModuleTest.java b/src/test/java/SwerveModuleTest.java
@@ -83,6 +83,7 @@ void setDesiredStateTemplate(double speed, double angle) {
         ArgumentCaptor<Double> argumentCaptor = ArgumentCaptor.forClass(Double.class);
         verify(mockTurningMotor).set(argumentCaptor.capture());
         double turningMotorSpeed = argumentCaptor.getValue();
+        System.out.println("Angle: " + angle + ", Speed: " + turningMotorSpeed);
         if (angle > 0 && angle <= 90 || angle > 180 && angle <= 270) {
             if (turningMotorSpeed <= 0.0 || turningMotorSpeed > 1.0) {
                 throw new AssertionError("Value out of range!");
@@ -92,7 +93,7 @@ void setDesiredStateTemplate(double speed, double angle) {
                 throw new AssertionError("Value out of range!");
             }
         } else {
-            if (turningMotorSpeed != 0.0) {
+            if (turningMotorSpeed < -0.001 || turningMotorSpeed > 0.001) {
                 throw new AssertionError("Value out of range!");
             }
         }
@@ -114,10 +115,8 @@ void testStraigtBackwardFullThrottle() {
     }
 
     @Test
-    void testEveryTenthAngleInPlace() {
-        for (double i = 0.0; i <= 360; i += 10) {
-            setDesiredStateTemplate(0.0, i);
-        }
+    void test180InPlace() {
+        setDesiredStateTemplate(0.0, 180);
     }
 
     @Test