Reduced code footprint, updated docs

BroncBotz3481 · Nov 29, 2023 · 087d318 · 087d318
1 parent 55598bd
commit 087d318
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Showing 26 changed files with 27 additions and 32 deletions.
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -45,9 +45,6 @@ public class SwerveModule {
   /** Encoder synchronization queued. */
   private boolean synchronizeEncoderQueued = false;
 
-  /** Absolute Encoder Read Issue Dectected. */
-  public boolean absoluteEncoderReadIssue = false;
-
   /**
    * Construct the swerve module and initialize the swerve module motors and absolute encoder.
    *
@@ -256,14 +253,11 @@ public SwerveModulePosition getPosition() {
   public double getAbsolutePosition() {
     double angle;
     if (absoluteEncoder != null) {
-      absoluteEncoderReadIssue = false;
       angle = absoluteEncoder.getAbsolutePosition() - angleOffset;
       if (absoluteEncoder.readingError) {
-        absoluteEncoderReadIssue = true;
         angle = getRelativePosition();
       }
     } else {
-      absoluteEncoderReadIssue = true;
       angle = getRelativePosition();
     }
     angle %= 360;
@@ -340,12 +334,13 @@ public SwerveModuleConfiguration getConfiguration() {
     return configuration;
   }
 
-  /*
-   * Get if the last Absolute Encoder had a read issue.
+  /**
+   * Get if the last Absolute Encoder had a read issue, such as it does not exist.
    *
-   * @return If the last Absolute Encoder had a read issue.
+   * @return If the last Absolute Encoder had a read issue, or absolute encoder does not exist.
    */
   public boolean getAbsoluteEncoderReadIssue() {
-    return absoluteEncoderReadIssue;
+    if (absoluteEncoder == null) return true;
+    else return absoluteEncoder.readingError;
   }
 }
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
@@ -8,6 +8,6 @@
     <versions>
       <version>2023.1.6</version>
     </versions>
-    <lastUpdated>20231129225827</lastUpdated>
+    <lastUpdated>20231129233622</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha1
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha256
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.sha512
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.md5
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha1
@@ -1 +1 @@
-60f023ce7400505143f5672f13d08c1c8af4aad9
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha256
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-javadoc.jar.sha512
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.md5
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha1
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha256
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6-sources.jar.sha512
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar
diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.md5 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.md5
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha1 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha1
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha256 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha256
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha512 b/yagsl/repos/swervelib/YAGSL-java/2023.1.6/YAGSL-java-2023.1.6.jar.sha512
@@ -1 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
@@ -8,6 +8,6 @@
     <versions>
       <version>2023.1.6</version>
     </versions>
-    <lastUpdated>20231129225829</lastUpdated>
+    <lastUpdated>20231129233624</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
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