Fix slow signal period for REV swerve modules

viggy96 · viggy96 · commit 8b28e69e4a17 · 2025-02-08T21:06:38.000-06:00
diff --git a/src/main/java/org/lasarobotics/drive/swerve/parent/REVSwerveModule.java b/src/main/java/org/lasarobotics/drive/swerve/parent/REVSwerveModule.java
@@ -68,8 +68,8 @@ public Hardware(Spark driveMotor, Spark rotateMotor) {
   }
 
   private static final Frequency UPDATE_RATE = Units.Hertz.of(100.0);
-  public static final Time DEFAULT_SIGNAL_PERIOD = Units.Milliseconds.of(10.0);
-  public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.of(10.0);
+  public static final Time DEFAULT_SIGNAL_PERIOD = UPDATE_RATE.asPeriod();
+  public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.one();
   public static final double DRIVETRAIN_EFFICIENCY = 0.90;
 
   private final double EPSILON = 5e-3;

Original file line number	Diff line number	Diff line change
`@@ -68,8 +68,8 @@ public Hardware(Spark driveMotor, Spark rotateMotor) {`
`68`	`68`	`}`
`69`	`69`
`70`	`70`	`private static final Frequency UPDATE_RATE = Units.Hertz.of(100.0);`
`71`		`- public static final Time DEFAULT_SIGNAL_PERIOD = Units.Milliseconds.of(10.0);`
`72`		`- public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.of(10.0);`
	`71`	`+ public static final Time DEFAULT_SIGNAL_PERIOD = UPDATE_RATE.asPeriod();`
	`72`	`+ public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.one();`
`73`	`73`	`public static final double DRIVETRAIN_EFFICIENCY = 0.90;`
`74`	`74`
`75`	`75`	`private final double EPSILON = 5e-3;`