Team_2648/2024_Robot_Code
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A little more linting, and a comment or two

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This commit is contained in:
Bradley Bickford 2024-01-09 22:24:10 -05:00
parent 1f76cb39ea
commit 73b068903e
2 changed files with 13 additions and 16 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -26,6 +26,11 @@ public class RobotContainer {
configureBindings(); configureBindings();
} }
// The objective should be to have the subsystems expose methods that return commands
// that can be bound to the triggers provided by the CommandXboxController class.
// This mindset should help keep RobotContainer a little cleaner this year.
// This is not to say you can't trigger or command chain here (see driveCardnial drivetrain example),
// but generally avoid any situation where the keyword "new" is involved
private void configureBindings() { private void configureBindings() {
drivetrain.setDefaultCommand(drivetrain.teleopCommand( drivetrain.setDefaultCommand(drivetrain.teleopCommand(
primary::getLeftX, primary::getLeftX,

24
src/main/java/frc/robot/utilities/SwerveUtils.java
View File

@ -12,11 +12,9 @@ public class SwerveUtils {
public static double StepTowards(double _current, double _target, double _stepsize) { public static double StepTowards(double _current, double _target, double _stepsize) {
if (Math.abs(_current - _target) <= _stepsize) { if (Math.abs(_current - _target) <= _stepsize) {
return _target; return _target;
} } else if (_target < _current) {
else if (_target < _current) {
return _current - _stepsize; return _current - _stepsize;
} } else {
else {
return _current + _stepsize; return _current + _stepsize;
} }
} }
@ -38,18 +36,15 @@ public class SwerveUtils {
if (difference <= _stepsize) { if (difference <= _stepsize) {
return _target; return _target;
} } else if (difference > Math.PI) { //does the system need to wrap over eventually?
else if (difference > Math.PI) { //does the system need to wrap over eventually?
//handle the special case where you can reach the target in one step while also wrapping //handle the special case where you can reach the target in one step while also wrapping
if (_current + 2*Math.PI - _target < _stepsize || _target + 2*Math.PI - _current < _stepsize) { if (_current + 2*Math.PI - _target < _stepsize || _target + 2*Math.PI - _current < _stepsize) {
return _target; return _target;
} } else {
else {
return WrapAngle(_current - stepDirection * _stepsize); //this will handle wrapping gracefully return WrapAngle(_current - stepDirection * _stepsize); //this will handle wrapping gracefully
} }
} } else {
else {
return _current + stepDirection * _stepsize; return _current + stepDirection * _stepsize;
} }
} }
@ -75,14 +70,11 @@ public class SwerveUtils {
if (_angle == twoPi) { // Handle this case separately to avoid floating point errors with the floor after the division in the case below if (_angle == twoPi) { // Handle this case separately to avoid floating point errors with the floor after the division in the case below
return 0.0; return 0.0;
} } else if (_angle > twoPi) {
else if (_angle > twoPi) {
return _angle - twoPi*Math.floor(_angle / twoPi); return _angle - twoPi*Math.floor(_angle / twoPi);
} } else if (_angle < 0.0) {
else if (_angle < 0.0) {
return _angle + twoPi*(Math.floor((-_angle) / twoPi)+1); return _angle + twoPi*(Math.floor((-_angle) / twoPi)+1);
} } else {
else {
return _angle; return _angle;
} }
} }