Team_2648/2026-Robot-Code
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Some minor changes, either reducing duplicate code, or generalizing code

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This commit is contained in:
Bradley Bickford
2026-02-15 14:46:19 -05:00
parent 7f291e42a1
commit 701fbfc43e
5 changed files with 105 additions and 42 deletions
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29
src/main/java/frc/robot/utilities/SwerveModule.java
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@@ -17,6 +17,7 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.AnalogEncoder;
import frc.robot.constants.ModuleConstants;
import frc.robot.constants.ModuleConstants.ModuleName;
/*
* This thread
@@ -30,6 +31,8 @@ import frc.robot.constants.ModuleConstants;
* the controller closed loop controller.
*/
public class SwerveModule {
private ModuleName moduleName;
private TalonFX drive;
private SparkMax turning;
@@ -41,8 +44,6 @@ public class SwerveModule {
private VelocityVoltage driveVelocityRequest;
private String moduleName;
private SwerveModuleState lastTargetState;
private SwerveModuleState lastTargetStateOptimized;
@@ -59,7 +60,7 @@ public class SwerveModule {
* @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
* @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID) {
public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID) {
this(moduleName, drivingCANID, turningCANID, -1, -1);
}
@@ -73,7 +74,7 @@ public class SwerveModule {
* @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
* @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
this(moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
}
@@ -88,7 +89,7 @@ public class SwerveModule {
* @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module
* @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID,
public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID,
int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
@@ -130,20 +131,20 @@ public class SwerveModule {
this.turningEncoderAutoRezeroEnabled = turningEncoderAutoRezeroEnabled;
this.moduleName = "Drivetrain/Modules/" + moduleName;
this.moduleName = moduleName;
}
public void periodic() {
if(!isAbsoluteEncoderDisabled) {
Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
Logger.recordOutput(moduleName.getLoggableName() + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
}
Logger.recordOutput(moduleName + "/ModuleTargetState", lastTargetState);
Logger.recordOutput(moduleName + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
Logger.recordOutput(moduleName + "/RelativeEncoderPosition", getTurningEncoderPosition());
Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetState", lastTargetState);
Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModuleState", getState());
Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModulePosition", getPosition());
Logger.recordOutput(moduleName.getLoggableName() + "/RelativeEncoderPosition", getTurningEncoderPosition());
// TODO Re-enable this? Was turned off when there was drivetrain issues
// Now that there aren't, do we try this again?
@@ -155,6 +156,10 @@ public class SwerveModule {
}*/
}
public ModuleName getModuleName() {
return moduleName;
}
public SwerveModuleState getState() {
return new SwerveModuleState(
drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,