From bde4bdc108a9c5dc71b78fd00390ffb088c21d1f Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Sun, 28 Apr 2024 11:38:38 -0400
Subject: [PATCH] refactor(swerve): Start moving away from config.

---
 src/main/java/frc/robot/swerve/SwerveFactory.java | 15 +++++++++------
 .../frc/robot/swerve/SwerveModuleIOCustom.java    |  4 ++--
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/swerve/SwerveFactory.java b/src/main/java/frc/robot/swerve/SwerveFactory.java
index 5bce6f3..5442c07 100644
--- a/src/main/java/frc/robot/swerve/SwerveFactory.java
+++ b/src/main/java/frc/robot/swerve/SwerveFactory.java
@@ -1,5 +1,8 @@
 package frc.robot.swerve;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+import frc.lib.CAN;
+import frc.lib.config.AbsoluteEncoderConfig;
 import frc.lib.controller.PositionControllerIO;
 import frc.lib.controller.PositionControllerIOSim;
 import frc.lib.controller.PositionControllerIOTalonFXSteer;
@@ -27,13 +30,13 @@ public static SwerveModuleIO createModule(SwerveModuleConfig config) {
    *
    * @return a steer motor.
    */
-  public static PositionControllerIO createSteerMotor(SwerveModuleConfig config) {
+  public static PositionControllerIO createSteerMotor(CAN steer, CAN azimuth, Rotation2d offset) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SWERVE))
       return new PositionControllerIOTalonFXSteer(
-          config.moduleCAN().steer(),
-          config.moduleCAN().azimuth(),
+          steer,
+          azimuth,
           SwerveConstants.STEER_CONFIG.withAbsoluteEncoderConfig(
-              SwerveConstants.STEER_CONFIG.absoluteEncoderConfig().withOffset(config.offset())),
+              new AbsoluteEncoderConfig().withOffset(offset)),
           false);
 
     return new PositionControllerIOSim();
@@ -44,10 +47,10 @@ public static PositionControllerIO createSteerMotor(SwerveModuleConfig config) {
    *
    * @return a drive motor.
    */
-  public static VelocityControllerIO createDriveMotor(SwerveModuleConfig config) {
+  public static VelocityControllerIO createDriveMotor(CAN drive) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SWERVE))
       return new VelocityControllerIOTalonFXPIDF(
-          config.moduleCAN().drive(), SwerveConstants.DRIVE_CONFIG, false);
+          drive, SwerveConstants.DRIVE_CONFIG, false);
 
     return new VelocityControllerIOSim();
   }
diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
index 5774f14..0aba5c3 100644
--- a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
+++ b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
@@ -34,10 +34,10 @@ public class SwerveModuleIOCustom implements SwerveModuleIO {
    * @param config the swerve module's configuration.
    */
   public SwerveModuleIOCustom(SwerveModuleConfig config) {
-    steerMotor = SwerveFactory.createSteerMotor(config);
+    steerMotor = SwerveFactory.createSteerMotor(config.moduleCAN().steer(), config.moduleCAN().azimuth(), config.offset());
     steerMotor.configure();
 
-    driveMotor = SwerveFactory.createDriveMotor(config);
+    driveMotor = SwerveFactory.createDriveMotor(config.moduleCAN().drive());
     driveMotor.configure();
 
     setpoint = new SwerveModuleState();