Code celanup

Author: viggy96

src/main/java/org/lasarobotics/drive/SwervePoseEstimatorService.java

@@ -174,7 +174,7 @@ public SwervePoseEstimatorService(Matrix<N3,N1> odometryStdDev, IMU imu, SwerveM
       m_yawAngle = (isIMUConnected) ? m_imu.getRotation2d() :
         m_yawAngle.plus(new Rotation2d(m_kinematics.toTwist2d(moduleDeltas).dtheta));
       var yawRate = (isIMUConnected) ? m_imu.getYawRate() :
-        Units.Radians.of(m_yawAngle.minus(previousYawAngle).getRadians()).divide(Units.Microseconds.of(m_currentTimestamp - m_previousTimestamp));
+        Units.Radians.of(m_yawAngle.minus(previousYawAngle).getRadians()).div(Units.Microseconds.of(m_currentTimestamp - m_previousTimestamp));
 
       // If no cameras or yaw rate is too high, just update pose based on odometry and exit
       if (m_cameras.isEmpty() || yawRate.gte(VISION_ANGULAR_VELOCITY_THRESHOLD)) {

src/main/java/org/lasarobotics/drive/TractionControlController.java

@@ -93,7 +93,7 @@ public TractionControlController(Dimensionless staticCoF,
     this.m_staticCoF = staticCoF.in(Units.Value);
     this.m_dynamicCoF = dynamicCoF.in(Units.Value);
     this.m_optimalSlipRatio = MathUtil.clamp(optimalSlipRatio.in(Units.Value), MIN_SLIP_RATIO, MAX_SLIP_RATIO);
-    this.m_mass = mass.divide(4).in(Units.Kilograms);
+    this.m_mass = mass.div(4).in(Units.Kilograms);
     this.m_maxLinearVelocity = Math.floor(maxLinearSpeed.in(Units.MetersPerSecond) * 1000) / 1000;
     this.m_maxAcceleration = m_staticCoF * Units.Gs.one().in(Units.MetersPerSecondPerSecond);
     this.m_maxPredictedSlipRatio = (m_maxAcceleration * GlobalConstants.ROBOT_LOOP_HZ.in(Units.Hertz))
@@ -154,7 +154,7 @@ & isEnabled()
 
     // Get desired acceleration
     var desiredAcceleration = velocityRequest.minus(inertialVelocity.times(oppositeDirection ? -1 : +1))
-      .divide(GlobalConstants.ROBOT_LOOP_HZ.asPeriod());
+      .div(GlobalConstants.ROBOT_LOOP_HZ.asPeriod());
 
     // Get sigmoid value
     double sigmoid = 1 / (1 + Math.exp(-SIGMOID_K * MathUtil.clamp(2 * (currentSlipRatio - m_optimalSlipRatio) - 1, -1.0, +1.0)));

src/main/java/org/lasarobotics/drive/swerve/DriveWheel.java

@@ -15,7 +15,7 @@ public class DriveWheel {
   public final Dimensionless dynamicCoF;
 
   private DriveWheel(Distance diameter, Dimensionless staticCoF, Dimensionless dynamicCoF) {
-    this.radius = diameter.divide(2);
+    this.radius = diameter.div(2);
     this.diameter = diameter;
     this.staticCoF = staticCoF;
     this.dynamicCoF = dynamicCoF;

src/main/java/org/lasarobotics/drive/swerve/SwerveDrive.java

@@ -410,8 +410,8 @@ protected void antiTip() {
     // Drive to counter tipping motion
     drive(
       ControlCentricity.ROBOT_CENTRIC,
-      DRIVE_MAX_LINEAR_SPEED.divide(4).times(Math.cos(direction)),
-      DRIVE_MAX_LINEAR_SPEED.divide(4).times(Math.sin(direction)),
+      DRIVE_MAX_LINEAR_SPEED.div(4).times(Math.cos(direction)),
+      DRIVE_MAX_LINEAR_SPEED.div(4).times(Math.sin(direction)),
       Units.DegreesPerSecond.of(0.0)
     );
   }

src/main/java/org/lasarobotics/hardware/generic/Analog.java

@@ -46,7 +46,7 @@ public static class AnalogInputs {
 
   private ID m_id;
   private Frequency m_updateRate;
-  private AnalogInputsAutoLogged m_inputs;
+  private volatile AnalogInputsAutoLogged m_inputs;
 
   /**
    * Create an Analog object
@@ -59,6 +59,7 @@ public Analog(Analog.ID id, Frequency updateRate) {
     this.m_inputs = new AnalogInputsAutoLogged();
 
     // Update inputs on init
+    updateInputs();
     periodic();
 
     // Register device with manager
@@ -82,7 +83,6 @@ public Frequency getUpdateRate() {
    */
   @Override
   protected void periodic() {
-    updateInputs();
     Logger.processInputs(m_id.name, m_inputs);
   }
 
@@ -92,7 +92,7 @@ protected void periodic() {
    */
   @Override
   public AnalogInputsAutoLogged getInputs() {
-    return m_inputs;
+    synchronized (m_inputs) { return m_inputs; }
   }
 
   @Override

src/main/java/org/lasarobotics/hardware/generic/Compressor.java

@@ -7,6 +7,7 @@
 import org.lasarobotics.hardware.LoggableHardware;
 import org.lasarobotics.hardware.PurpleManager;
 import org.littletonrobotics.junction.AutoLog;
+import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 
@@ -41,7 +42,7 @@ public static class CompressorInputs {
   private edu.wpi.first.wpilibj.Compressor m_compressor;
 
   private ID m_id;
-  private CompressorInputsAutoLogged m_inputs;
+  private volatile CompressorInputsAutoLogged m_inputs;
 
   /**
    * Create a Compressor object with built-in logging
@@ -67,6 +68,13 @@ public Compressor(Compressor.ID id, int module) {
   public Compressor(Compressor.ID id) {
     this.m_id = id;
     this.m_compressor = new edu.wpi.first.wpilibj.Compressor(m_id.moduleType);
+
+    // Update inputs on init
+    updateInputs();
+    periodic();
+
+    // Register device with manager
+    PurpleManager.add(this);
   }
 
   /**
@@ -114,7 +122,7 @@ protected void updateInputs() {
    */
   @Override
   protected void periodic() {
-    updateInputs();
+    Logger.processInputs(m_id.name, m_inputs);
   }
 
   /**
@@ -123,7 +131,7 @@ protected void periodic() {
    */
   @Override
   public CompressorInputsAutoLogged getInputs() {
-    return m_inputs;
+    synchronized (m_inputs) { return m_inputs; }
   }
 
   /**

src/main/java/org/lasarobotics/hardware/generic/LimitSwitch.java

@@ -61,7 +61,7 @@ public static class LimitSwitchInputs {
   private ID m_id;
   private SwitchPolarity m_switchPolarity;
   private Frequency m_updateRate;
-  private LimitSwitchInputsAutoLogged m_inputs;
+  private volatile LimitSwitchInputsAutoLogged m_inputs;
 
   /**
    * Create a limit switch object with built-in logging
@@ -77,6 +77,7 @@ public LimitSwitch(LimitSwitch.ID id, SwitchPolarity switchPolarity, Frequency u
     this.m_inputs = new LimitSwitchInputsAutoLogged();
 
     // Update inputs on init
+    updateInputs();
     periodic();
 
     // Register device with manager
@@ -95,7 +96,6 @@ protected void updateInputs() {
    */
   @Override
   protected void periodic() {
-    updateInputs();
     Logger.processInputs(m_id.name, m_inputs);
   }
 
@@ -110,7 +110,7 @@ public Frequency getUpdateRate() {
    */
   @Override
   public LimitSwitchInputsAutoLogged getInputs() {
-    return m_inputs;
+    synchronized (m_inputs) { return m_inputs; }
   }
 
   @Override

src/test/java/org/lasarobotics/drive/TractionControlTest.java

@@ -45,7 +45,7 @@ public void limitSlip() {
     var outputSpeed = Units.MetersPerSecond.of(100.0);
     for (int i = 0; i < GlobalConstants.ROBOT_LOOP_HZ.times(2).in(Units.Hertz); i++) {
       Timer.delay(GlobalConstants.ROBOT_LOOP_HZ.asPeriod().in(Units.Seconds));
-      outputSpeed = m_tractionControlController.calculate(MAX_LINEAR_SPEED, Units.MetersPerSecond.of(0.0), MAX_LINEAR_SPEED.divide(2));
+      outputSpeed = m_tractionControlController.calculate(MAX_LINEAR_SPEED, Units.MetersPerSecond.of(0.0), MAX_LINEAR_SPEED.div(2));
     }
 
     // Verify behavior
@@ -86,7 +86,7 @@ public void disable() {
     m_tractionControlController.disableTractionControl();
 
     // Simulate scenario
-    var outputSpeed = m_tractionControlController.calculate(MAX_LINEAR_SPEED, Units.MetersPerSecond.of(0.0), MAX_LINEAR_SPEED.divide(2));
+    var outputSpeed = m_tractionControlController.calculate(MAX_LINEAR_SPEED, Units.MetersPerSecond.of(0.0), MAX_LINEAR_SPEED.div(2));
 
     // Verify behavior
     assertFalse(m_tractionControlController.isSlipping());

src/test/java/org/lasarobotics/drive/swerve/parent/REVSwerveModuleTest.java

@@ -204,10 +204,10 @@ public void setup() {
   @DisplayName("Test if module location is set correctly")
   public void moduleLocation() {
     // Check if all module locations are set
-    assertEquals(new Translation2d(WHEELBASE.divide(+2), TRACK_WIDTH.divide(+2)), m_lFrontModule.getModuleCoordinate());
-    assertEquals(new Translation2d(WHEELBASE.divide(+2), TRACK_WIDTH.divide(-2)), m_rFrontModule.getModuleCoordinate());
-    assertEquals(new Translation2d(WHEELBASE.divide(-2), TRACK_WIDTH.divide(+2)), m_lRearModule.getModuleCoordinate());
-    assertEquals(new Translation2d(WHEELBASE.divide(-2), TRACK_WIDTH.divide(-2)), m_rRearModule.getModuleCoordinate());
+    assertEquals(new Translation2d(WHEELBASE.div(+2), TRACK_WIDTH.div(+2)), m_lFrontModule.getModuleCoordinate());
+    assertEquals(new Translation2d(WHEELBASE.div(+2), TRACK_WIDTH.div(-2)), m_rFrontModule.getModuleCoordinate());
+    assertEquals(new Translation2d(WHEELBASE.div(-2), TRACK_WIDTH.div(+2)), m_lRearModule.getModuleCoordinate());
+    assertEquals(new Translation2d(WHEELBASE.div(-2), TRACK_WIDTH.div(-2)), m_rRearModule.getModuleCoordinate());
   }
 
   @Test