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Require CANBus name as parameter to SN_SwerveModule #128

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Merged
merged 2 commits into from
May 31, 2025
Merged

Require CANBus name as parameter to SN_SwerveModule #128

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Require CANBus name as parameter to SN_SwerveModule
alicekuznetsov May 31, 2025
573f3f0
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alicekuznetsov May 31, 2025
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1 change: 0 additions & 1 deletion src/main/java/com/frcteam3255/components/swerve/SN_SuperSwerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,6 @@ public SN_SuperSwerve(SN_SwerveConstants swerveConstants, SN_SwerveModule[] modu
SN_SwerveModule.driveGearRatio = swerveConstants.driveGearRatio;
SN_SwerveModule.steerGearRatio = swerveConstants.steerGearRatio;

SN_SwerveModule.CANBusName = CANBusName;
SN_SwerveModule.minimumSteerSpeedPercent = minimumSteerPercent;

SN_SwerveModule.driveInversion = driveInversion;
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15 changes: 9 additions & 6 deletions src/main/java/com/frcteam3255/components/swerve/SN_SwerveModule.java
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Expand Up @@ -50,7 +50,6 @@ public class SN_SwerveModule extends SubsystemBase {
public static InvertedValue driveInversion = InvertedValue.CounterClockwise_Positive;
public static InvertedValue steerInversion = InvertedValue.Clockwise_Positive;
public static SensorDirectionValue cancoderInversion = SensorDirectionValue.CounterClockwise_Positive;
public static String CANBusName = "Swerve";
public static double minimumSteerSpeedPercent = 0.01;

// -*- Static Physical Constants -*-
Expand Down Expand Up @@ -85,9 +84,11 @@ public class SN_SwerveModule extends SubsystemBase {
* The offset of the CANcoder in rotations. This is typically
* obtained by aligning all of the wheels in the appropriate
* direction and then copying the Raw Absolute encoder value.
* @param CANBusName
* The name of the CANBus that the module is connected to.
*/
public SN_SwerveModule(int moduleNumber, int driveMotorID, int steerMotorID, int absoluteEncoderID,
double absoluteEncoderOffset) {
double absoluteEncoderOffset, String CANBusName) {

simTimer.start();

Expand Down Expand Up @@ -136,7 +137,7 @@ public void configure() {
*/
public double getRawAbsoluteEncoder() {
// TODO: change to units using .getValue
return absoluteEncoder.getAbsolutePosition().getValueAsDouble();
return absoluteEncoder.getAbsolutePosition().getValueAsDouble();
}

/**
Expand Down Expand Up @@ -179,9 +180,10 @@ public void resetDriveMotorEncoder() {
public SwerveModuleState getActualModuleState() {
// TODO: change to units using .getValue
double velocity = SN_Math.rotationsToMeters(driveMotor.getVelocity().getValueAsDouble(), wheelCircumference, 1);

// TODO: change to units using .getValue
Rotation2d angle = Rotation2d.fromDegrees(Units.rotationsToDegrees(steerMotor.getPosition().getValueAsDouble()));
Rotation2d angle = Rotation2d
.fromDegrees(Units.rotationsToDegrees(steerMotor.getPosition().getValueAsDouble()));

return new SwerveModuleState(velocity, angle);
}
Expand Down Expand Up @@ -212,7 +214,8 @@ public SwerveModulePosition getModulePosition() {
// TODO: change to units using .getValue
double distance = SN_Math.rotationsToMeters(driveMotor.getPosition().getValueAsDouble(), wheelCircumference, 1);
// TODO: change to units using .getValue
Rotation2d angle = Rotation2d.fromDegrees(Units.rotationsToDegrees(steerMotor.getPosition().getValueAsDouble()));
Rotation2d angle = Rotation2d
.fromDegrees(Units.rotationsToDegrees(steerMotor.getPosition().getValueAsDouble()));

return new SwerveModulePosition(distance, angle);
}
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