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Simbotics · Nov 12, 2023 · 9ed0977 · 9ed0977
1 parent cf9ffae
commit 9ed0977
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diff --git a/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -1,7 +1,5 @@
 package frc.robot;
 
-import java.util.function.Supplier;
-
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrain;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
@@ -11,75 +9,88 @@
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.ReplanningConfig;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+import java.util.function.Supplier;
 
 /**
- * Class that extends the Phoenix SwerveDrivetrain class and implements subsystem
- * so it can be used in command-based projects easily.
+ * Class that extends the Phoenix SwerveDrivetrain class and implements subsystem so it can be used
+ * in command-based projects easily.
  */
 public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsystem {
-    private SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
-    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
-        super(driveTrainConstants, OdometryUpdateFrequency, modules);
-        configurePathPlanner();
-    }
-    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
-        super(driveTrainConstants, modules);
-        configurePathPlanner();
-    }
+  private SwerveRequest.ApplyChassisSpeeds autoRequest = new SwerveRequest.ApplyChassisSpeeds();
 
-    private void configurePathPlanner() {
-        AutoBuilder.configureHolonomic(
-            ()->this.getState().Pose, // Supplier of current robot pose
-            this::seedFieldRelative,  // Consumer for seeding pose against auto
-            this::getCurrentRobotChassisSpeeds,
-            (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
-            new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
-                                            new PIDConstants(10, 0, 0),
-                                            1,
-                                            1,
-                                            new ReplanningConfig(),
-                                            0.004),
-            this); // Subsystem for requirements
-    }
+  public CommandSwerveDrivetrain(
+      SwerveDrivetrainConstants driveTrainConstants,
+      double OdometryUpdateFrequency,
+      SwerveModuleConstants... modules) {
+    super(driveTrainConstants, OdometryUpdateFrequency, modules);
+    configurePathPlanner();
+  }
 
-    public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
-        return new RunCommand(()->{this.setControl(requestSupplier.get());}, this);
-    }
+  public CommandSwerveDrivetrain(
+      SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
+    super(driveTrainConstants, modules);
+    configurePathPlanner();
+  }
 
-    public Command getAutoPath(String pathName) {
-        return new PathPlannerAuto(pathName);
-    }
+  private void configurePathPlanner() {
+    AutoBuilder.configureHolonomic(
+        () -> this.getState().Pose, // Supplier of current robot pose
+        this::seedFieldRelative, // Consumer for seeding pose against auto
+        this::getCurrentRobotChassisSpeeds,
+        (speeds) ->
+            this.setControl(
+                autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
+        new HolonomicPathFollowerConfig(
+            new PIDConstants(10, 0, 0),
+            new PIDConstants(10, 0, 0),
+            1,
+            1,
+            new ReplanningConfig(),
+            0.004),
+        this); // Subsystem for requirements
+  }
 
-    @Override
-    public void simulationPeriodic() {
-        /* Assume  */
-        updateSimState(0.02, 12);
-    }
-    /**
-     * Takes the specified location and makes it the current pose for
-     * field-relative maneuvers
-     *
-     * @param location Pose to make the current pose at.
-     */
-    @Override
-    public void seedFieldRelative(Pose2d location) {
-        try {
-            m_stateLock.writeLock().lock();
+  public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
+    return new RunCommand(
+        () -> {
+          this.setControl(requestSupplier.get());
+        },
+        this);
+  }
 
-            m_odometry.resetPosition(Rotation2d.fromDegrees(m_pigeon2.getYaw().getValue()), m_modulePositions, location);
-        } finally {
-            m_stateLock.writeLock().unlock();
-        }
-    }
+  public Command getAutoPath(String pathName) {
+    return new PathPlannerAuto(pathName);
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    /* Assume  */
+    updateSimState(0.02, 12);
+  }
+  /**
+   * Takes the specified location and makes it the current pose for field-relative maneuvers
+   *
+   * @param location Pose to make the current pose at.
+   */
+  @Override
+  public void seedFieldRelative(Pose2d location) {
+    try {
+      m_stateLock.writeLock().lock();
 
-    public ChassisSpeeds getCurrentRobotChassisSpeeds() {
-        return m_kinematics.toChassisSpeeds(getState().ModuleStates);
+      m_odometry.resetPosition(
+          Rotation2d.fromDegrees(m_pigeon2.getYaw().getValue()), m_modulePositions, location);
+    } finally {
+      m_stateLock.writeLock().unlock();
     }
+  }
+
+  public ChassisSpeeds getCurrentRobotChassisSpeeds() {
+    return m_kinematics.toChassisSpeeds(getState().ModuleStates);
+  }
 }