Merge branch '8/port-drive-subsystem-to-command-robot' of https://git…

…hub.com/Simbotics/Simbot-Base into 8/port-drive-subsystem-to-command-robot
Simbotics · Jan 4, 2024 · f01bdaf · f01bdaf
2 parents fc8f5c3 + a01407a
commit f01bdaf
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Showing 2 changed files with 23 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -15,23 +15,25 @@
 import frc.robot.subsystems.led.LEDSubsystem;
 
 public class RobotContainer {
-    private class Controller {
-        public static final CommandController driver = new CommandController(0);
-        public static final CommandController operator = new CommandController(1);
-    }
+  private class Controller {
+    public static final CommandController driver = new CommandController(0);
+    public static final CommandController operator = new CommandController(1);
+  }
 
-    private final LEDSubsystem ledSubsystem;
+  private final LEDSubsystem ledSubsystem;
 
-    // Set up the base for the drive and drivetrain
-    final DriveSubsystem drivetrain = DriveConstants.DriveTrain;
-    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
-            .withDeadband(DriveConstants.kMaxAngularRate * 0.1).withRotationalDeadband(DriveConstants.kMaxAngularRate * 0.1)
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  // Set up the base for the drive and drivetrain
+  final DriveSubsystem drivetrain = DriveConstants.DriveTrain;
+  private final SwerveRequest.FieldCentric drive =
+      new SwerveRequest.FieldCentric()
+          .withDeadband(DriveConstants.kMaxAngularRate * 0.1)
+          .withRotationalDeadband(DriveConstants.kMaxAngularRate * 0.1)
+          .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
 
     /* Path follower */
     private Command runAuto = drivetrain.getAutoPath("Tests");
 
-    private final Telemetry logger = new Telemetry(DriveConstants.kMaxSpeed);
+  private final Telemetry logger = new Telemetry(DriveConstants.kMaxSpeed);
 
     private void configureBindings() {
         ledSubsystem.setDefaultCommand(new InstantCommand(() -> ledSubsystem.periodic(), ledSubsystem));
@@ -53,12 +55,12 @@ private void configureBindings() {
                         .ignoringDisable(true));
     }
 
-    public RobotContainer() {
-        configureBindings();
-        ledSubsystem = new LEDSubsystem();
-    }
+  public RobotContainer() {
+    configureBindings();
+    ledSubsystem = new LEDSubsystem();
+  }
 
-    public Command getAutonomousCommand() {
-        return runAuto;
-    }
+  public Command getAutonomousCommand() {
+    return runAuto;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -10,10 +10,12 @@
 public class DriveConstants {
   /** Only touch these if you know what you're doing */
   private static final SlotGains steerGains = new SlotGains(100.0, 0, 0.05, 0, 0);
+
   private static final SlotGains driveGains = new SlotGains(3.0, 0, 0, 0, 0);
 
   public static final double kMaxSpeed = 6.0; // 6 meters per second desired top speed
-  public static final double kMaxAngularRate = Math.PI; // Half a rotation per second max angular velocity
+  public static final double kMaxAngularRate =
+      Math.PI; // Half a rotation per second max angular velocity
 
   private static final double kCoupleRatio = 3.5;