minor updates for module.java and gyroiopigeon2

TitaniumTitans · Jan 20, 2024 · 009d44a · 009d44a
1 parent 79c20aa
commit 009d44a
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Showing 2 changed files with 17 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
@@ -57,7 +57,7 @@ public void updateInputs(GyroIOInputs inputs) {
 
     inputs.odometryYawPositions =
         yawPositionQueue.stream()
-            .map((Double value) -> Rotation2d.fromDegrees(value))
+            .map(Rotation2d::fromDegrees)
             .toArray(Rotation2d[]::new);
     yawPositionQueue.clear();
   }

diff --git a/src/main/java/frc/robot/subsystems/drive/module/Module.java b/src/main/java/frc/robot/subsystems/drive/module/Module.java
@@ -18,10 +18,8 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Timer;
 import frc.robot.Constants;
-import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 public class Module {
@@ -51,22 +49,22 @@ public Module(ModuleIO io) {
 
     // Switch constants based on mode (the physics simulator is treated as a
     // separate robot with different tuning)
-      switch (Constants.currentMode) {
-          case REAL, REPLAY -> {
-              m_driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13);
-              m_driveFeedback = new PIDController(0.05, 0.0, 0.0);
-              m_turnFeedback = new PIDController(7.0, 0.0, 0.0);
-          }
-          case SIM -> {
-              m_driveFeedforward = new SimpleMotorFeedforward(0.0, 0.13);
-              m_driveFeedback = new PIDController(0.1, 0.0, 0.0);
-              m_turnFeedback = new PIDController(10.0, 0.0, 0.0);
-          }
-          default -> {
-              m_driveFeedforward = new SimpleMotorFeedforward(0.0, 0.0);
-              m_driveFeedback = new PIDController(0.0, 0.0, 0.0);
-              m_turnFeedback = new PIDController(0.0, 0.0, 0.0);
-          }
+    switch (Constants.currentMode) {
+        case REAL, REPLAY -> {
+          m_driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13);
+          m_driveFeedback = new PIDController(0.05, 0.0, 0.0);
+          m_turnFeedback = new PIDController(7.0, 0.0, 0.0);
+        }
+        case SIM -> {
+          m_driveFeedforward = new SimpleMotorFeedforward(0.0, 0.13);
+          m_driveFeedback = new PIDController(0.1, 0.0, 0.0);
+          m_turnFeedback = new PIDController(10.0, 0.0, 0.0);
+        }
+        default -> {
+          m_driveFeedforward = new SimpleMotorFeedforward(0.0, 0.0);
+          m_driveFeedback = new PIDController(0.0, 0.0, 0.0);
+          m_turnFeedback = new PIDController(0.0, 0.0, 0.0);
+        }
       }
 
     m_turnFeedback.enableContinuousInput(-Math.PI, Math.PI);