Removed unfinished portion. Reformatted library.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Dec 18, 2024 · cc0615c · cc0615c
1 parent 74a6812
commit cc0615c
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Showing 10 changed files with 121 additions and 190 deletions.
diff --git a/src/main/java/swervelib/SwerveInputStream.java b/src/main/java/swervelib/SwerveInputStream.java
@@ -88,53 +88,6 @@ public class SwerveInputStream implements Supplier<ChassisSpeeds>
   private       SwerveInputMode           currentMode            = SwerveInputMode.ANGULAR_VELOCITY;
 
 
-  /**
-   * Drive modes to keep track of.
-   */
-  enum SwerveInputMode
-  {
-    /**
-     * Translation only mode, does not allow for rotation and maintains current heading.
-     */
-    TRANSLATION_ONLY,
-    /**
-     * Output based off angular velocity
-     */
-    ANGULAR_VELOCITY,
-    /**
-     * Output based off of heading.
-     */
-    HEADING,
-    /**
-     * Output based off of targeting.
-     */
-    AIM
-  }
-
-  /**
-   * Copy the {@link SwerveInputStream} object.
-   *
-   * @return Clone of current {@link SwerveInputStream}
-   */
-  public SwerveInputStream copy()
-  {
-    SwerveInputStream newStream = new SwerveInputStream(swerveDrive, controllerTranslationX, controllerTranslationY);
-    newStream.controllerOmega = controllerOmega;
-    newStream.controllerHeadingX = controllerHeadingX;
-    newStream.controllerHeadingY = controllerHeadingY;
-    newStream.axisDeadband = axisDeadband;
-    newStream.translationAxisScale = translationAxisScale;
-    newStream.omegaAxisScale = omegaAxisScale;
-    newStream.aimTarget = aimTarget;
-    newStream.headingEnabled = headingEnabled;
-    newStream.aimEnabled = aimEnabled;
-    newStream.currentMode = currentMode;
-    newStream.translationOnlyEnabled = translationOnlyEnabled;
-    newStream.lockedHeading = lockedHeading;
-    newStream.swerveController = swerveController;
-    return newStream;
-  }
-
   /**
    * Create a {@link SwerveInputStream} for an easy way to generate {@link ChassisSpeeds} from a driver controller.
    *
@@ -193,6 +146,30 @@ public static SwerveInputStream of(SwerveDrive drive, DoubleSupplier x, DoubleSu
     return new SwerveInputStream(drive, x, y);
   }
 
+  /**
+   * Copy the {@link SwerveInputStream} object.
+   *
+   * @return Clone of current {@link SwerveInputStream}
+   */
+  public SwerveInputStream copy()
+  {
+    SwerveInputStream newStream = new SwerveInputStream(swerveDrive, controllerTranslationX, controllerTranslationY);
+    newStream.controllerOmega = controllerOmega;
+    newStream.controllerHeadingX = controllerHeadingX;
+    newStream.controllerHeadingY = controllerHeadingY;
+    newStream.axisDeadband = axisDeadband;
+    newStream.translationAxisScale = translationAxisScale;
+    newStream.omegaAxisScale = omegaAxisScale;
+    newStream.aimTarget = aimTarget;
+    newStream.headingEnabled = headingEnabled;
+    newStream.aimEnabled = aimEnabled;
+    newStream.currentMode = currentMode;
+    newStream.translationOnlyEnabled = translationOnlyEnabled;
+    newStream.lockedHeading = lockedHeading;
+    newStream.swerveController = swerveController;
+    return newStream;
+  }
+
   /**
    * Add a rotation axis for Angular Velocity control
    *
@@ -255,7 +232,6 @@ public SwerveInputStream scaleRotation(double scaleRotation)
     return this;
   }
 
-
   /**
    * Output {@link ChassisSpeeds} based on heading while the supplier is True.
    *
@@ -573,4 +549,27 @@ public ChassisSpeeds get()
 
     return new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
   }
+
+  /**
+   * Drive modes to keep track of.
+   */
+  enum SwerveInputMode
+  {
+    /**
+     * Translation only mode, does not allow for rotation and maintains current heading.
+     */
+    TRANSLATION_ONLY,
+    /**
+     * Output based off angular velocity
+     */
+    ANGULAR_VELOCITY,
+    /**
+     * Output based off of heading.
+     */
+    HEADING,
+    /**
+     * Output based off of targeting.
+     */
+    AIM
+  }
 }
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -197,7 +197,6 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
 
     // Config angle motor/controller
     angleMotor.configureIntegratedEncoder(moduleConfiguration.conversionFactors.angle.factor);
-    angleMotor.configureConversionFactor(moduleConfiguration.conversionFactors);
     angleMotor.configurePIDF(moduleConfiguration.anglePIDF);
     angleMotor.configurePIDWrapping(0, 360);
     angleMotor.setInverted(moduleConfiguration.angleMotorInverted);
@@ -211,7 +210,6 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
 
     // Config drive motor/controller
     driveMotor.configureIntegratedEncoder(moduleConfiguration.conversionFactors.drive.factor);
-    driveMotor.configureConversionFactor(moduleConfiguration.conversionFactors);
     driveMotor.configurePIDF(moduleConfiguration.velocityPIDF);
     driveMotor.setInverted(moduleConfiguration.driveMotorInverted);
     driveMotor.setMotorBrake(true);

diff --git a/src/main/java/swervelib/encoders/CANCoderSwerve.java b/src/main/java/swervelib/encoders/CANCoderSwerve.java
@@ -27,11 +27,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * Wait time for status frames to show up.
    */
-  public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
-  /**
-   * CANCoder with WPILib sendable and support.
-   */
-  public        CANcoder                        encoder;
+  public static double                          STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
   /**
    * An {@link Alert} for if the CANCoder magnet field is less than ideal.
    */
@@ -60,6 +56,10 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
    * Angular velocity of the {@link CANcoder}.
    */
   private final StatusSignal<AngularVelocity>   velocity;
+  /**
+   * CANCoder with WPILib sendable and support.
+   */
+  public        CANcoder                        encoder;
   /**
    * {@link CANcoder} Configurator objet for this class.
    */

diff --git a/src/main/java/swervelib/motors/SparkFlexSwerve.java b/src/main/java/swervelib/motors/SparkFlexSwerve.java
@@ -11,7 +11,6 @@
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkFlexConfig;
@@ -25,7 +24,6 @@
 import java.util.function.Supplier;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
-import swervelib.parser.json.modules.ConversionFactorsJson;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
@@ -74,15 +72,6 @@ public class SparkFlexSwerve extends SwerveMotor
    * Configuration object for {@link SparkFlex} motor.
    */
   private       SparkFlexConfig           cfg                    = new SparkFlexConfig();
-  /**
-   * After the first post-module config update there will be an error thrown to alert to a possible issue.
-   */
-  private boolean startupInitialized = false;
-  /**
-   * Module Conversion factors to use.
-   */
-  private ConversionFactorsJson moduleConversionFactors;
-
 
 
   /**
@@ -364,12 +353,6 @@ public void configureIntegratedEncoder(double positionConversionFactor)
 
   }
 
-  @Override
-  public void configureConversionFactor(ConversionFactorsJson factorsJson)
-  {
-    this.moduleConversionFactors = factorsJson;
-  }
-
   /**
    * Configure the PIDF values for the closed loop controller.
    *

diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -26,7 +26,6 @@
 import swervelib.encoders.SparkMaxEncoderSwerve;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
-import swervelib.parser.json.modules.ConversionFactorsJson;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
@@ -79,14 +78,6 @@ public class SparkMaxBrushedMotorSwerve extends SwerveMotor
    * Configuration object for {@link SparkMax} motor.
    */
   private       SparkMaxConfig            cfg                    = new SparkMaxConfig();
-  /**
-   * Module Conversion factors to use.
-   */
-  private ConversionFactorsJson moduleConversionFactors;
-  /**
-   * After the first post-module config update there will be an error thrown to alert to a possible issue.
-   */
-  private boolean               startupInitialized = false;
 
   /**
    * Initialize the swerve motor.
@@ -440,12 +431,6 @@ public void configureIntegratedEncoder(double positionConversionFactor)
     }
   }
 
-  @Override
-  public void configureConversionFactor(ConversionFactorsJson factorsJson)
-  {
-    this.moduleConversionFactors = factorsJson;
-  }
-
   /**
    * Configure the PIDF values for the closed loop controller.
    *

diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -23,7 +23,6 @@
 import swervelib.encoders.SparkMaxEncoderSwerve;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
-import swervelib.parser.json.modules.ConversionFactorsJson;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
@@ -64,14 +63,6 @@ public class SparkMaxSwerve extends SwerveMotor
    * Configuration object for {@link SparkMax} motor.
    */
   private       SparkMaxConfig            cfg                    = new SparkMaxConfig();
-  /**
-   * Module Conversion factors to use.
-   */
-  private ConversionFactorsJson moduleConversionFactors;
-  /**
-   * After the first post-module config update there will be an error thrown to alert to a possible issue.
-   */
-  private boolean startupInitialized = false;
 
 
   /**
@@ -366,12 +357,6 @@ public void configureIntegratedEncoder(double positionConversionFactor)
 
   }
 
-  @Override
-  public void configureConversionFactor(ConversionFactorsJson factorsJson)
-  {
-    this.moduleConversionFactors = factorsJson;
-  }
-
   /**
    * Configure the PIDF values for the closed loop controller.
    *

diff --git a/src/main/java/swervelib/motors/SwerveMotor.java b/src/main/java/swervelib/motors/SwerveMotor.java
@@ -3,7 +3,6 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
-import swervelib.parser.json.modules.ConversionFactorsJson;
 
 /**
  * Swerve motor abstraction which defines a standard interface for motors within a swerve module.
@@ -51,13 +50,6 @@ public abstract class SwerveMotor
    */
   public abstract void configureIntegratedEncoder(double positionConversionFactor);
 
-  /**
-   * Configure the motor controller conversion factors based off given ConversionFactors.
-   *
-   * @param factorsJson {@link ConversionFactorsJson} from {@link swervelib.parser.SwerveParser}.
-   */
-  public abstract void configureConversionFactor(ConversionFactorsJson factorsJson);
-
   /**
    * Configure the PIDF values for the closed loop controller. 0 is disabled or off.
    *

diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -15,7 +15,6 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
-import swervelib.parser.json.modules.ConversionFactorsJson;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
@@ -52,10 +51,6 @@ public class TalonFXSwerve extends SwerveMotor
    * Conversion factor for the motor.
    */
   private       double               conversionFactor;
-  /**
-   * Module Conversion factors to use.
-   */
-  private       ConversionFactorsJson moduleConversionFactors;
   /**
    * Current TalonFX configuration.
    */
@@ -196,12 +191,6 @@ public void configureIntegratedEncoder(double positionConversionFactor)
     cfg.apply(configuration);
   }
 
-  @Override
-  public void configureConversionFactor(ConversionFactorsJson factorsJson)
-  {
-    this.moduleConversionFactors = factorsJson;
-  }
-
   /**
    * Configure the PIDF values for the closed loop controller. 0 is disabled or off.
    *

diff --git a/src/main/java/swervelib/motors/TalonSRXSwerve.java b/src/main/java/swervelib/motors/TalonSRXSwerve.java
@@ -143,12 +143,6 @@ public void configureIntegratedEncoder(double positionConversionFactor)
     configureCANStatusFrames(250);
   }
 
-  @Override
-  public void configureConversionFactor(ConversionFactorsJson factorsJson)
-  {
-    this.moduleConversionFactors = factorsJson;
-  }
-
   /**
    * Set the CAN status frames.
    *