Remove redundant constants, convert SmartNumbers to double

StuyPulse · Jan 26, 2024 · ae6197f · ae6197f
1 parent 26ac943
commit ae6197f
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Showing 4 changed files with 22 additions and 24 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -50,31 +50,29 @@ public interface Swerve {
         double LENGTH = Units.inchesToMeters(26);
 
 		SmartNumber MODULE_VELOCITY_DEADBAND = new SmartNumber("Swerve/Module velocity deadband (m per s)", 0.02);
-		SmartNumber MAX_MODULE_SPEED = new SmartNumber("Swerve/Maximum module speed (m per s)", 5.06);
-		SmartNumber MAX_MODULE_TURN = new SmartNumber("Swerve/Maximum module turn (rad per s)", 6.28);
+		double MAX_MODULE_SPEED = 5.88;
 
         public interface Turn {
-            SmartNumber kP = new SmartNumber("Swerve/Turn/kP", 6.0);
-            SmartNumber kI = new SmartNumber("Swerve/Turn/kI", 0.0);
-            SmartNumber kD = new SmartNumber("Swerve/Turn/kD", 0.15);
+            double kP = 6.0;
+            double kI = 0.0;
+            double kD = 0.15;
 
-            SmartNumber kS = new SmartNumber("Swerve/Turn/kS", 0.44076);
-            SmartNumber kV = new SmartNumber("Swerve/Turn/kV", 0.0056191);
-            SmartNumber kA = new SmartNumber("Swerve/Turn/kA", 0.00042985);
+            double kS = 0.44076;
+            double kV = 0.0056191;
+            double kA = 0.00042985;
         }
 
         public interface Drive {
-            SmartNumber kP = new SmartNumber("Swerve/Drive/kP", 0.00019162);
-            SmartNumber kI = new SmartNumber("Swerve/Drive/kI", 0.0);
-            SmartNumber kD = new SmartNumber("Swerve/Drive/kD", 0.0);
+            double kP = 0.00019162;
+            double kI = 0.0;
+            double kD = 0.0;
 
-            SmartNumber kS = new SmartNumber("Swerve/Drive/kS", 0.36493);
-            SmartNumber kV = new SmartNumber("Swerve/Drive/kV", 2.448);
-            SmartNumber kA = new SmartNumber("Swerve/Drive/kA", 0.16408);
+            double kS = 0.36493;
+            double kV = 2.448;
+            double kA = 0.16408;
         }
 
         public interface Motion {
-
             PIDConstants XY = new PIDConstants(0.7, 0, 0.02);
             PIDConstants THETA = new PIDConstants(10, 0, 0.1);
         }
@@ -122,7 +120,7 @@ public interface Drive {
             SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.01);
             SmartNumber POWER = new SmartNumber("Driver Settings/Drive/Power", 2);
 
-            SmartNumber MAX_TELEOP_SPEED = new SmartNumber("Driver Settings/Drive/Max Speed", Swerve.MAX_MODULE_SPEED.get());
+            SmartNumber MAX_TELEOP_SPEED = new SmartNumber("Driver Settings/Drive/Max Speed", Swerve.MAX_MODULE_SPEED);
             SmartNumber MAX_TELEOP_ACCEL = new SmartNumber("Driver Settings/Drive/Max Accleration", 15);
         }
 

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
@@ -3,7 +3,6 @@
 import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
-import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.PathPlannerLogging;
 import com.pathplanner.lib.util.ReplanningConfig;
 import com.stuypulse.robot.Robot;
@@ -16,7 +15,6 @@
 import com.stuypulse.robot.constants.Settings.Swerve.FrontLeft;
 import com.stuypulse.robot.constants.Settings.Swerve.FrontRight;
 import com.stuypulse.robot.subsystems.odometry.AbstractOdometry;
-import com.stuypulse.robot.subsystems.odometry.Odometry;
 import com.stuypulse.robot.subsystems.swerve.module.SimModule;
 import com.stuypulse.robot.subsystems.swerve.module.AbstractModule;
 import com.stuypulse.robot.subsystems.swerve.module.JimModule;
@@ -91,7 +89,7 @@ public void configureAutoBuilder() {
             new HolonomicPathFollowerConfig(
                 Swerve.Motion.XY, 
                 Swerve.Motion.THETA, 
-                Swerve.MAX_MODULE_SPEED.get(), 
+                Swerve.MAX_MODULE_SPEED, 
                 Math.hypot(Swerve.LENGTH, Swerve.WIDTH), 
                 new ReplanningConfig(true, true)), 
             () -> {
@@ -172,7 +170,7 @@ public void setModuleStates(SwerveModuleState... states) {
             );
         }
 
-        SwerveDriveKinematics.desaturateWheelSpeeds(states, Swerve.MAX_MODULE_SPEED.get());
+        SwerveDriveKinematics.desaturateWheelSpeeds(states, Swerve.MAX_MODULE_SPEED);
 
         for (int i = 0; i < modules.length; i++) {
             modules[i].setTargetState(filterModuleState(states[i]));

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/RetepModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/RetepModule.java
@@ -9,6 +9,7 @@
 import com.stuypulse.robot.Robot;
 import com.stuypulse.robot.Robot.MatchState;
 import com.stuypulse.robot.constants.Motors;
+import com.stuypulse.robot.constants.Settings.Driver;
 import com.stuypulse.robot.constants.Settings.Swerve;
 import com.stuypulse.robot.constants.Settings.Swerve.Drive;
 import com.stuypulse.robot.constants.Settings.Swerve.Encoder;
@@ -70,7 +71,7 @@ public RetepModule(String id, Translation2d translationOffset, Rotation2d angleO
             .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());
 
         turnController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kD)
-            .setSetpointFilter(new ARateLimit(Swerve.MAX_MODULE_TURN))
+            .setSetpointFilter(new ARateLimit(Driver.Turn.MAX_TELEOP_TURNING))
             .setOutputFilter(x -> -x);
 
         targetState = new SwerveModuleState();

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java
@@ -2,6 +2,7 @@
 
 import com.stuypulse.robot.Robot;
 import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.robot.constants.Settings.Driver;
 import com.stuypulse.robot.constants.Settings.Swerve;
 import com.stuypulse.robot.constants.Settings.Swerve.Drive;
 import com.stuypulse.robot.constants.Settings.Swerve.Turn;
@@ -65,10 +66,10 @@ public SimModule(String id, Translation2d translationOffset) {
             .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());
 
         turnController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kD)
-            .setSetpointFilter(new ARateLimit(Swerve.MAX_MODULE_TURN));
+            .setSetpointFilter(new ARateLimit(Driver.Turn.MAX_TELEOP_TURNING));
 
-        driveSim = new LinearSystemSim<>(identifyVelocityPositionSystem(Drive.kV.get(), Drive.kA.get()));
-        turnSim = new LinearSystemSim<N2, N1, N1>(LinearSystemId.identifyPositionSystem(Turn.kV.get(), Turn.kA.get()));
+        driveSim = new LinearSystemSim<>(identifyVelocityPositionSystem(Drive.kV, Drive.kA));
+        turnSim = new LinearSystemSim<N2, N1, N1>(LinearSystemId.identifyPositionSystem(Turn.kV, Turn.kA));
 
         targetState = new SwerveModuleState();
     }