refactor(swerve): Move swerve constants out of library.

Author: haydenheroux

Diff for: src/main/java/frc/lib/controller/SwerveModuleIOCustom.java

@@ -4,11 +4,8 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
-import frc.lib.CAN;
-import frc.lib.config.MechanismConfig;
 import frc.lib.controller.PositionControllerIO.PositionControllerIOValues;
 import frc.lib.controller.VelocityControllerIO.VelocityControllerIOValues;
-import frc.robot.swerve.SwerveFactory;
 
 /** Custom swerve module. */
 public class SwerveModuleIOCustom implements SwerveModuleIO {
@@ -25,18 +22,21 @@ public class SwerveModuleIOCustom implements SwerveModuleIO {
   /** Drive motor values. */
   private final VelocityControllerIOValues driveMotorValues = new VelocityControllerIOValues();
 
-  private final double wheelCircumference = Units.inchesToMeters(4.0) * Math.PI;
+  /** Wheel circumference. */
+  private final double wheelCircumference;
 
   /** Module setpoint */
   private SwerveModuleState setpoint;
 
   public SwerveModuleIOCustom(
-      CAN steer, CAN azimuth, CAN drive, MechanismConfig steerConfig, MechanismConfig driveConfig) {
-    steerMotor = SwerveFactory.createSteerMotor(steer, azimuth, steerConfig);
-    steerMotor.configure();
+      PositionControllerIO steerMotor, VelocityControllerIO driveMotor, double wheelCircumference) {
+    this.steerMotor = steerMotor;
+    this.steerMotor.configure();
 
-    driveMotor = SwerveFactory.createDriveMotor(drive, driveConfig);
-    driveMotor.configure();
+    this.driveMotor = driveMotor;
+    this.driveMotor.configure();
+
+    this.wheelCircumference = wheelCircumference;
 
     setpoint = new SwerveModuleState();
   }

Diff for: src/main/java/frc/robot/auto/Auto.java

@@ -14,7 +14,6 @@
 import frc.robot.odometry.Odometry;
 import frc.robot.superstructure.Superstructure;
 import frc.robot.swerve.Swerve;
-import frc.robot.swerve.SwerveFactory;
 
 /** Auto subsystem. */
 public class Auto extends Subsystem {
@@ -49,7 +48,7 @@ private Auto() {
             new PIDConstants(1.0),
             new PIDConstants(1.0),
             swerve.maximumTranslationVelocity(),
-            SwerveFactory.createNorthEastModuleTranslation().getNorm(), // TODO
+            swerve.driveRadius(),
             new ReplanningConfig()),
         AllianceFlipHelper::shouldFlip,
         swerve);

Diff for: src/main/java/frc/robot/swerve/Swerve.java

@@ -73,6 +73,9 @@ public class Swerve extends Subsystem {
                   .withProportionalGain(0.75) // volts per rotation per second
               );
 
+  /** Wheel circumference. */
+  private final double wheelCircumference = Units.inchesToMeters(4.0) * Math.PI;
+
   /** Translation motion profile config. */
   private final MotionProfileConfig translationMotionProfileConfig =
       new MotionProfileConfig()
@@ -85,10 +88,14 @@ public class Swerve extends Subsystem {
 
   /** Initializes the swerve subsystem and configures swerve hardware. */
   private Swerve() {
-    swerveModules[0] = SwerveFactory.createNorthWestModule(steerConfig, driveConfig);
-    swerveModules[1] = SwerveFactory.createNorthEastModule(steerConfig, driveConfig);
-    swerveModules[2] = SwerveFactory.createSouthEastModule(steerConfig, driveConfig);
-    swerveModules[3] = SwerveFactory.createSouthWestModule(steerConfig, driveConfig);
+    swerveModules[0] =
+        SwerveFactory.createNorthWestModule(steerConfig, driveConfig, wheelCircumference);
+    swerveModules[1] =
+        SwerveFactory.createNorthEastModule(steerConfig, driveConfig, wheelCircumference);
+    swerveModules[2] =
+        SwerveFactory.createSouthEastModule(steerConfig, driveConfig, wheelCircumference);
+    swerveModules[3] =
+        SwerveFactory.createSouthWestModule(steerConfig, driveConfig, wheelCircumference);
 
     swerveKinematics =
         new SwerveDriveKinematics(
@@ -116,16 +123,6 @@ public void periodic() {}
 
   @Override
   public void addToShuffleboard(ShuffleboardTab tab) {
-    ShuffleboardLayout translationConstants = Telemetry.addColumn(tab, "Translation Constants");
-
-    translationConstants.addDouble("Maximum Velocity (mps)", this::maximumTranslationVelocity);
-    translationConstants.addDouble(
-        "Maximum Accleration (mpsps)", this::maximumTranslationAcceleration);
-
-    ShuffleboardLayout rotationConstants = Telemetry.addColumn(tab, "Rotation Constants");
-    rotationConstants.addDouble(
-        "Maximum Velocity (rps)", () -> maximumRotationVelocity().getRotations());
-
     Telemetry.addSwerveModuleStates(tab, "Swerve Module States", this::getModuleStates);
     Telemetry.addSwerveModuleStates(tab, "Swerve Module Setpoints", this::getModuleSetpoints);
 
@@ -234,15 +231,6 @@ public void setSetpoints(SwerveModuleState[] setpoints, boolean lazy) {
     }
   }
 
-  /**
-   * Returns the motion profile config.
-   *
-   * @return the motion profile config.
-   */
-  public MotionProfileConfig translationMotionProfileConfig() {
-    return translationMotionProfileConfig;
-  }
-
   /**
    * Returns the maximum translation velocity.
    *
@@ -253,30 +241,12 @@ public double maximumTranslationVelocity() {
   }
 
   /**
-   * Returns the maximum translation acceleration.
-   *
-   * @return the maximum translation acceleration.
-   */
-  public double maximumTranslationAcceleration() {
-    return translationMotionProfileConfig.maximumAcceleration();
-  }
-
-  /**
-   * Returns the rotation motion profile config.
-   *
-   * @return the rotation motion profile config.
-   */
-  public MotionProfileConfig rotationMotionProfileConfig() {
-    return rotationMotionProfileConfig;
-  }
-
-  /**
-   * Returns the maximum rotation velocity.
+   * Returns the drive radius (distance to the farthest module).
    *
-   * @return the maximum rotation velocity.
+   * @return the drive readius (distance to the farthest module).
    */
-  public Rotation2d maximumRotationVelocity() {
-    return Rotation2d.fromRotations(rotationMotionProfileConfig.maximumVelocity());
+  public double driveRadius() {
+    return SwerveFactory.createNorthEastModuleTranslation().getNorm();
   }
 
   /**

Diff for: src/main/java/frc/robot/swerve/SwerveFactory.java

@@ -27,8 +27,16 @@ public class SwerveFactory {
    * @return a swerve module.
    */
   private static SwerveModuleIO createModule(
-      CAN steer, CAN azimuth, CAN drive, MechanismConfig steerConfig, MechanismConfig driveConfig) {
-    return new SwerveModuleIOCustom(steer, azimuth, drive, steerConfig, driveConfig);
+      CAN steer,
+      CAN azimuth,
+      CAN drive,
+      MechanismConfig steerConfig,
+      MechanismConfig driveConfig,
+      double wheelCircumference) {
+    return new SwerveModuleIOCustom(
+        createSteerMotor(steer, azimuth, steerConfig),
+        createDriveMotor(drive, driveConfig),
+        wheelCircumference);
   }
 
   /**
@@ -37,15 +45,16 @@ private static SwerveModuleIO createModule(
    * @return the north west swerve module.
    */
   public static SwerveModuleIO createNorthWestModule(
-      MechanismConfig steerConfig, MechanismConfig driveConfig) {
+      MechanismConfig steerConfig, MechanismConfig driveConfig, double wheelCircumference) {
     return createModule(
         new CAN(8, "swerve"),
         new CAN(16, "swerve"),
         new CAN(24, "swerve"),
         steerConfig.withAbsoluteEncoderConfig(
             new AbsoluteEncoderConfig()
                 .withOffset(Rotation2d.fromRotations(-0.084717).unaryMinus())),
-        driveConfig);
+        driveConfig,
+        wheelCircumference);
   }
 
   /**
@@ -63,15 +72,16 @@ public static Translation2d createNorthWestModuleTranslation() {
    * @return the north east swerve module.
    */
   public static SwerveModuleIO createNorthEastModule(
-      MechanismConfig steerConfig, MechanismConfig driveConfig) {
+      MechanismConfig steerConfig, MechanismConfig driveConfig, double wheelCircumference) {
     return createModule(
         new CAN(16, "swerve"),
         new CAN(18, "swerve"),
         new CAN(30, "swerve"),
         steerConfig.withAbsoluteEncoderConfig(
             new AbsoluteEncoderConfig()
                 .withOffset(Rotation2d.fromRotations(0.196777).unaryMinus())),
-        driveConfig);
+        driveConfig,
+        wheelCircumference);
   }
 
   /**
@@ -89,15 +99,16 @@ public static Translation2d createNorthEastModuleTranslation() {
    * @return the south east swerve module.
    */
   public static SwerveModuleIO createSouthEastModule(
-      MechanismConfig steerConfig, MechanismConfig driveConfig) {
+      MechanismConfig steerConfig, MechanismConfig driveConfig, double wheelCircumference) {
     return createModule(
         new CAN(12, "swerve"),
         new CAN(22, "swerve"),
         new CAN(26, "swerve"),
         steerConfig.withAbsoluteEncoderConfig(
             new AbsoluteEncoderConfig()
                 .withOffset(Rotation2d.fromRotations(0.276611).unaryMinus())),
-        driveConfig);
+        driveConfig,
+        wheelCircumference);
   }
 
   /**
@@ -115,15 +126,16 @@ public static Translation2d createSouthEastModuleTranslation() {
    * @return the south west swerve module.
    */
   public static SwerveModuleIO createSouthWestModule(
-      MechanismConfig steerConfig, MechanismConfig driveConfig) {
+      MechanismConfig steerConfig, MechanismConfig driveConfig, double wheelCircumference) {
     return createModule(
         new CAN(10, "swerve"),
         new CAN(20, "swerve"),
         new CAN(28, "swerve"),
         steerConfig.withAbsoluteEncoderConfig(
             new AbsoluteEncoderConfig()
                 .withOffset(Rotation2d.fromRotations(0.223145).unaryMinus())),
-        driveConfig);
+        driveConfig,
+        wheelCircumference);
   }
 
   /**