refactor: rename Drivetrain, remove usage of var keyword

src/main/java/org/team1540/robot2024/Constants.java

@@ -30,6 +30,8 @@ public enum Mode {
         REPLAY
     }
 
+    public static final double LOOP_PERIOD_SECS = 0.02;
+
     public static class Drivetrain {
         public static final String CAN_BUS = "";
         public static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);

src/main/java/org/team1540/robot2024/RobotContainer.java

@@ -23,11 +23,11 @@
  */
 public class RobotContainer {
     // Subsystems
-    public final Drive drive;
+    public final Drivetrain drivetrain;
 
     // Controller
-    public final CommandXboxController controller = new CommandXboxController(0);
-    public final CommandXboxController controllerCopilot = new CommandXboxController(1);
+    public final CommandXboxController driver = new CommandXboxController(0);
+    public final CommandXboxController copilot = new CommandXboxController(1);
 
     // Dashboard inputs
     public final LoggedDashboardChooser<Command> autoChooser;
@@ -39,8 +39,8 @@ public RobotContainer() {
         switch (Constants.currentMode) {
             case REAL:
                 // Real robot, instantiate hardware IO implementations
-                drive =
-                        new Drive(
+                drivetrain =
+                        new Drivetrain(
                                 new GyroIONavx(),
                                 new ModuleIOTalonFX(SwerveFactory.getModuleMotors(3, SwerveFactory.SwerveCorner.FRONT_LEFT)),
                                 new ModuleIOTalonFX(SwerveFactory.getModuleMotors(4, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
@@ -57,8 +57,8 @@ public RobotContainer() {
 
             case SIM:
                 // Sim robot, instantiate physics sim IO implementations
-                drive =
-                        new Drive(
+                drivetrain =
+                        new Drivetrain(
                                 new GyroIO() {},
                                 new ModuleIOSim(),
                                 new ModuleIOSim(),
@@ -68,8 +68,8 @@ public RobotContainer() {
 
             default:
                 // Replayed robot, disable IO implementations
-                drive =
-                        new Drive(
+                drivetrain =
+                        new Drivetrain(
                                 new GyroIO() {
                                 },
                                 new ModuleIO() {
@@ -91,7 +91,7 @@ public RobotContainer() {
         autoChooser.addOption(
                 "Drive FF Characterization",
                 new FeedForwardCharacterization(
-                        drive, drive::runCharacterizationVolts, drive::getCharacterizationVelocity));
+                        drivetrain, drivetrain::runCharacterizationVolts, drivetrain::getCharacterizationVelocity));
 
         // Configure the button bindings
         configureButtonBindings();
@@ -104,17 +104,17 @@ public RobotContainer() {
      * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
     private void configureButtonBindings() {
-        drive.setDefaultCommand(
+        drivetrain.setDefaultCommand(
                 DriveCommands.joystickDrive(
-                        drive,
-                        () -> -controller.getLeftY(),
-                        () -> -controller.getLeftX(),
-                        () -> -controller.getRightX()));
-        controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
-        controller.b().onTrue(
+                        drivetrain,
+                        () -> -driver.getLeftY(),
+                        () -> -driver.getLeftX(),
+                        () -> -driver.getRightX()));
+        driver.x().onTrue(Commands.runOnce(drivetrain::stopWithX, drivetrain));
+        driver.b().onTrue(
                 Commands.runOnce(
-                        () -> drive.setPose(new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
-                        drive
+                        () -> drivetrain.setPose(new Pose2d(drivetrain.getPose().getTranslation(), new Rotation2d())),
+                        drivetrain
                 ).ignoringDisable(true)
         );
     }

src/main/java/org/team1540/robot2024/commands/DriveCommands.java

@@ -8,7 +8,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.team1540.robot2024.subsystems.drive.Drive;
+import org.team1540.robot2024.subsystems.drive.Drivetrain;
 
 import java.util.function.DoubleSupplier;
 
@@ -21,7 +21,7 @@ private DriveCommands() {
     /**
      * Field relative drive command using two joysticks (controlling linear and angular velocities).
      */
-    public static Command joystickDrive(Drive drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier) {
+    public static Command joystickDrive(Drivetrain drivetrain, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier) {
         return Commands.run(() -> {
             // Apply deadband
             double linearMagnitude = MathUtil.applyDeadband(Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND);
@@ -36,14 +36,14 @@ public static Command joystickDrive(Drive drive, DoubleSupplier xSupplier, Doubl
             Translation2d linearVelocity = new Pose2d(new Translation2d(), linearDirection).transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())).getTranslation();
 
             // Convert to field relative speeds & send command
-            drive.runVelocity(
+            drivetrain.runVelocity(
                     ChassisSpeeds.fromFieldRelativeSpeeds(
-                            linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                            linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
-                            omega * drive.getMaxAngularSpeedRadPerSec(),
-                            drive.getRotation()
+                            linearVelocity.getX() * drivetrain.getMaxLinearSpeedMetersPerSec(),
+                            linearVelocity.getY() * drivetrain.getMaxLinearSpeedMetersPerSec(),
+                            omega * drivetrain.getMaxAngularSpeedRadPerSec(),
+                            drivetrain.getRotation()
                     )
             );
-        }, drive);
+        }, drivetrain);
     }
 }

src/main/java/org/team1540/robot2024/subsystems/drive/Drive.java → src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java

@@ -20,19 +20,17 @@
 import org.littletonrobotics.junction.Logger;
 import org.team1540.robot2024.Constants;
 
-public class Drive extends SubsystemBase {
-
-
+public class Drivetrain extends SubsystemBase {
     private final GyroIO gyroIO;
     private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
     private final Module[] modules = new Module[4]; // FL, FR, BL, BR
 
-    private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());
+    private final SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());
     private Pose2d pose = new Pose2d();
     private Rotation2d lastGyroRotation = new Rotation2d();
     private boolean forceModuleAngleChange = false;
 
-    public Drive(
+    public Drivetrain(
             GyroIO gyroIO,
             ModuleIO flModuleIO,
             ModuleIO frModuleIO,
@@ -55,26 +53,22 @@ public Drive(
                 this);
         Pathfinding.setPathfinder(new LocalADStarAK());
         PathPlannerLogging.setLogActivePathCallback(
-                (activePath) -> {
-                    Logger.recordOutput(
-                            "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
-                });
+                (activePath) -> Logger.recordOutput(
+                        "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()])));
         PathPlannerLogging.setLogTargetPoseCallback(
-                (targetPose) -> {
-                    Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
-                });
+                (targetPose) -> Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose));
     }
 
     public void periodic() {
         gyroIO.updateInputs(gyroInputs);
-        Logger.processInputs("Drive/Gyro", gyroInputs);
-        for (var module : modules) {
+        Logger.processInputs("Drivetrain/Gyro", gyroInputs);
+        for (Module module : modules) {
             module.periodic();
         }
 
         // Stop moving when disabled
         if (DriverStation.isDisabled()) {
-            for (var module : modules) {
+            for (Module module : modules) {
                 module.stop();
             }
         }
@@ -92,7 +86,7 @@ public void periodic() {
         // The twist represents the motion of the robot since the last
         // loop cycle in x, y, and theta based only on the modules,
         // without the gyro. The gyro is always disconnected in simulation.
-        var twist = kinematics.toTwist2d(wheelDeltas);
+        Twist2d twist = kinematics.toTwist2d(wheelDeltas);
         if (gyroInputs.connected) {
             // If the gyro is connected, replace the theta component of the twist
             // with the change in angle since the last loop cycle.
@@ -163,14 +157,14 @@ public void runCharacterizationVolts(double volts) {
      */
     public double getCharacterizationVelocity() {
         double driveVelocityAverage = 0.0;
-        for (var module : modules) {
+        for (Module module : modules) {
             driveVelocityAverage += module.getCharacterizationVelocity();
         }
         return driveVelocityAverage / 4.0;
     }
 
     /**
-     * Returns the module states (turn angles and drive velocities) for all of the modules.
+     * Returns the module states (turn angles and drive velocities) for all the modules.
      */
     @AutoLogOutput(key = "SwerveStates/Measured")
     private SwerveModuleState[] getModuleStates() {

src/main/java/org/team1540/robot2024/subsystems/drive/GyroIONavx.java

@@ -13,7 +13,6 @@ public GyroIONavx(){
         lastAngle = navx.getRotation2d();
     }
 
-
     @Override
     public void updateInputs(GyroIOInputs inputs) {
         double lastTime = inputs.time;

src/main/java/org/team1540/robot2024/subsystems/drive/Module.java

@@ -9,7 +9,6 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Module {
-
     private final ModuleIO io;
     private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
     private final int index;
@@ -97,7 +96,7 @@ public SwerveModuleState runSetpoint(SwerveModuleState state) {
     public SwerveModuleState runSetpoint(SwerveModuleState state, boolean forceTurn) {
         // Optimize state based on current angle
         // Controllers run in "periodic" when the setpoint is not null
-        var optimizedState = SwerveModuleState.optimize(state, getAngle());
+        SwerveModuleState optimizedState = SwerveModuleState.optimize(state, getAngle());
 
         // Update setpoints, controllers run in "periodic"
         angleSetpoint = ((Math.abs(optimizedState.speedMetersPerSecond) <= (Constants.Drivetrain.MAX_LINEAR_SPEED * 0.01)) && !forceTurn) ? angleSetpoint : optimizedState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering.
@@ -174,7 +173,7 @@ public SwerveModulePosition getPosition() {
      * Returns the module position delta since the last call to this method.
      */
     public SwerveModulePosition getPositionDelta() {
-        var delta = new SwerveModulePosition(getPositionMeters() - lastPositionMeters, getAngle());
+        SwerveModulePosition delta = new SwerveModulePosition(getPositionMeters() - lastPositionMeters, getAngle());
         lastPositionMeters = getPositionMeters();
         return delta;
     }

src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java

@@ -4,6 +4,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import org.team1540.robot2024.Constants;
 
 /**
  * Physics sim implementation of module IO.
@@ -13,7 +14,6 @@
  * approximation for the behavior of the module.
  */
 public class ModuleIOSim implements ModuleIO {
-    private static final double LOOP_PERIOD_SECS = 0.02;
     private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI);
     private final DCMotorSim driveSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), 6.15, 0.025);
     private final DCMotorSim turnSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), 150.0 / 7.0, 0.004);
@@ -22,8 +22,8 @@ public class ModuleIOSim implements ModuleIO {
 
     @Override
     public void updateInputs(ModuleIOInputs inputs) {
-        driveSim.update(LOOP_PERIOD_SECS);
-        turnSim.update(LOOP_PERIOD_SECS);
+        driveSim.update(Constants.LOOP_PERIOD_SECS);
+        turnSim.update(Constants.LOOP_PERIOD_SECS);
 
         inputs.drivePositionRad = driveSim.getAngularPositionRad();
         inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();

src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java

@@ -41,9 +41,6 @@ public class ModuleIOTalonFX implements ModuleIO {
     private final StatusSignal<Double> turnAppliedVolts;
     private final StatusSignal<Double> turnCurrent;
 
-    // Gear ratios for SDS MK4i L2, adjust as necessary
-
-
     private final Rotation2d absoluteEncoderOffset;
 
     public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw) {
@@ -53,11 +50,9 @@ public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw) {
         cancoder = hw.cancoder;
         absoluteEncoderOffset = hw.cancoderOffset;
 
-
         setDriveBrakeMode(true);
         setTurnBrakeMode(true);
 
-
         drivePosition = driveTalon.getPosition();
         driveVelocity = driveTalon.getVelocity();
         driveAppliedVolts = driveTalon.getMotorVoltage();
@@ -103,15 +98,15 @@ public void setTurnVoltage(double volts) {
 
     @Override
     public void setDriveBrakeMode(boolean enable) {
-        var config = new MotorOutputConfigs();
+        MotorOutputConfigs config = new MotorOutputConfigs();
         config.Inverted = InvertedValue.CounterClockwise_Positive;
         config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
         driveTalon.getConfigurator().apply(config);
     }
 
     @Override
     public void setTurnBrakeMode(boolean enable) {
-        var config = new MotorOutputConfigs();
+        MotorOutputConfigs config = new MotorOutputConfigs();
         config.Inverted = Constants.Drivetrain.IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
         config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
         turnTalon.getConfigurator().apply(config);

src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java

@@ -53,7 +53,7 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
             }
             TalonFXConfiguration driveConfig = new TalonFXConfiguration();
             TalonFXConfiguration turnConfig = new TalonFXConfiguration();
-            CANcoderConfiguration canCoderconfig = new CANcoderConfiguration();
+            CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
 
             driveConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
             driveConfig.CurrentLimits.SupplyCurrentThreshold = 60.0;
@@ -65,9 +65,9 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
             turnConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
             turnConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
 
-            canCoderconfig.MagnetSensor.MagnetOffset = moduleOffsetsRots[id-1];
-            canCoderconfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
-            canCoderconfig.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Unsigned_0To1;
+            canCoderConfig.MagnetSensor.MagnetOffset = moduleOffsetsRots[id-1];
+            canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
+            canCoderConfig.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Unsigned_0To1;
 
             this.driveMotor = new TalonFX(30 + id, canbus);
             this.driveMotor.getConfigurator().apply(driveConfig);
@@ -79,7 +79,7 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
             this.cancoder = new CANcoder(10 + id, canbus);
 
 
-            this.cancoder.getConfigurator().apply(canCoderconfig);
+            this.cancoder.getConfigurator().apply(canCoderConfig);
 
             this.cancoderOffset = Rotation2d.fromDegrees(corner.offset);