diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index a1bd59c2..9f45b916 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -104,7 +104,7 @@ public class SwerveDrive
/**
* Amount of seconds the duration of the timestep the speeds should be applied for.
*/
- private double discretizationdtSeconds = 0.02;
+ private double discretizationdtSeconds = 0.02;
/**
* Deadband for speeds in heading correction.
*/
@@ -347,15 +347,17 @@ public void setHeadingCorrection(boolean state, double deadband)
}
/**
- * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time.
- * The inputs are added together so this is not intneded to be used to give the driver both methods of control.
- *
+ * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
+ * time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.
+ *
* @param fieldOrientedVelocity The field oriented velocties to use
* @param robotOrientedVelocity The robot oriented velocties to use
*/
- public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity, ChassisSpeeds robotOrientedVelocity)
+ public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity,
+ ChassisSpeeds robotOrientedVelocity)
{
- ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading()).plus(robotOrientedVelocity);
+ ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading())
+ .plus(robotOrientedVelocity);
drive(TotalVelocties);
}
@@ -1174,11 +1176,13 @@ public void setCosineCompensator(boolean enabled)
/**
* Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
- *
- * @param enable Enable chassis velocity correction, which will use {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} with the following.
+ *
+ * @param enable Enable chassis velocity correction, which will use
+ * {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} with the following.
* @param dtSeconds The duration of the timestep the speeds should be applied for.
*/
- public void setChassisDiscretization(boolean enable, double dtSeconds){
+ public void setChassisDiscretization(boolean enable, double dtSeconds)
+ {
chassisVelocityCorrection = enable;
discretizationdtSeconds = dtSeconds;
}
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index 8f71e615..4ef3bf55 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -82,14 +82,14 @@ public class SwerveModule
* Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
*/
public int moduleNumber;
- /**
- * Feedforward for the drive motor during closed loop control.
- */
- private SimpleMotorFeedforward driveMotorFeedforward;
/**
* Maximum speed of the drive motors in meters per second.
*/
public double maxSpeed;
+ /**
+ * Feedforward for the drive motor during closed loop control.
+ */
+ private SimpleMotorFeedforward driveMotorFeedforward;
/**
* Anti-Jitter AKA auto-centering disabled.
*/
@@ -274,6 +274,16 @@ public void setFeedforward(SimpleMotorFeedforward drive)
this.driveMotorFeedforward = drive;
}
+ /**
+ * Get the current drive motor PIDF values.
+ *
+ * @return {@link PIDFConfig} of the drive motor.
+ */
+ public PIDFConfig getDrivePIDF()
+ {
+ return configuration.velocityPIDF;
+ }
+
/**
* Set the drive PIDF values.
*
@@ -286,13 +296,13 @@ public void setDrivePIDF(PIDFConfig config)
}
/**
- * Get the current drive motor PIDF values.
+ * Get the current angle/azimuth/steering motor PIDF values.
*
- * @return {@link PIDFConfig} of the drive motor.
+ * @return {@link PIDFConfig} of the angle motor.
*/
- public PIDFConfig getDrivePIDF()
+ public PIDFConfig getAnglePIDF()
{
- return configuration.velocityPIDF;
+ return configuration.anglePIDF;
}
/**
@@ -306,16 +316,6 @@ public void setAnglePIDF(PIDFConfig config)
angleMotor.configurePIDF(config);
}
- /**
- * Get the current angle/azimuth/steering motor PIDF values.
- *
- * @return {@link PIDFConfig} of the angle motor.
- */
- public PIDFConfig getAnglePIDF()
- {
- return configuration.anglePIDF;
- }
-
/**
* Set the desired state of the swerve module.
WARNING: If you are not using one of the functions from
* {@link SwerveDrive} you may screw up {@link SwerveDrive#kinematics}
@@ -638,7 +638,8 @@ public void updateTelemetry()
}
SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
- SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity()); SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
+ SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity());
+ SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
}
}
diff --git a/src/main/java/swervelib/motors/TalonSRXSwerve.java b/src/main/java/swervelib/motors/TalonSRXSwerve.java
index 5c5849ab..30db007e 100644
--- a/src/main/java/swervelib/motors/TalonSRXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonSRXSwerve.java
@@ -7,7 +7,6 @@
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import edu.wpi.first.wpilibj.Timer;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.math.SwerveMath;
import swervelib.parser.PIDFConfig;