one final sonarqube thing

TitaniumTitans · Jan 21, 2024 · b7bbc68 · b7bbc68
1 parent b5ad9b7
commit b7bbc68
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Showing 3 changed files with 12 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSparkMax.java
@@ -125,7 +125,8 @@ public ModuleIOSparkMax(int index) {
   @Override
   public void updateInputs(ModuleIOInputs inputs) {
     inputs.setDrivePositionRad(Units.rotationsToRadians(driveEncoder.getPosition()) / DRIVE_GEAR_RATIO);
-    inputs.setDriveVelocityRadPerSec(Units.rotationsPerMinuteToRadiansPerSecond(driveEncoder.getVelocity()) / DRIVE_GEAR_RATIO);
+    inputs.setDriveVelocityRadPerSec(
+            Units.rotationsPerMinuteToRadiansPerSecond(driveEncoder.getVelocity()) / DRIVE_GEAR_RATIO);
     inputs.setDriveAppliedVolts(driveSparkMax.getAppliedOutput() * driveSparkMax.getBusVoltage());
     inputs.setDriveCurrentAmps(new double[] {driveSparkMax.getOutputCurrent()});
 

diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
@@ -168,15 +168,19 @@ public void updateInputs(ModuleIOInputs inputs) {
             m_turnAppliedVolts,
             m_turnCurrent);
 
-    inputs.setDrivePositionRad(Units.rotationsToRadians(m_drivePosition.getValueAsDouble()) / m_moduleConstants.DRIVE_GEAR_RATIO());
-    inputs.setDriveVelocityRadPerSec(Units.rotationsToRadians(m_driveVelocity.getValueAsDouble()) / m_moduleConstants.DRIVE_GEAR_RATIO());
+    inputs.setDrivePositionRad(
+            Units.rotationsToRadians(m_drivePosition.getValueAsDouble()) / m_moduleConstants.DRIVE_GEAR_RATIO());
+    inputs.setDriveVelocityRadPerSec(
+            Units.rotationsToRadians(m_driveVelocity.getValueAsDouble()) / m_moduleConstants.DRIVE_GEAR_RATIO());
     inputs.setDriveAppliedVolts(m_driveAppliedVolts.getValueAsDouble());
     inputs.setDriveCurrentAmps(new double[] {m_driveCurrent.getValueAsDouble()});
 
     inputs.setTurnAbsolutePosition(Rotation2d.fromRotations(m_turnAbsolutePosition.getValueAsDouble())
         .minus(m_moduleConstants.ENCODER_OFFSET()));
-    inputs.setTurnPosition(Rotation2d.fromRotations((m_turnPosition.getValueAsDouble() / m_moduleConstants.TURNING_GEAR_RATIO())));
-    inputs.setTurnVelocityRadPerSec(Units.rotationsToRadians(m_turnVelocity.getValueAsDouble()) / m_moduleConstants.TURNING_GEAR_RATIO());
+    inputs.setTurnPosition(Rotation2d.fromRotations((
+            m_turnPosition.getValueAsDouble() / m_moduleConstants.TURNING_GEAR_RATIO())));
+    inputs.setTurnVelocityRadPerSec(
+            Units.rotationsToRadians(m_turnVelocity.getValueAsDouble()) / m_moduleConstants.TURNING_GEAR_RATIO());
     inputs.setTurnAppliedVolts(m_turnAppliedVolts.getValueAsDouble());
     inputs.setTurnCurrentAmps(new double[] {m_turnCurrent.getValueAsDouble()});
 

diff --git a/src/main/java/frc/robot/subsystems/drive/module/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/module/PhoenixOdometryThread.java
@@ -17,6 +17,7 @@
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.hardware.ParentDevice;
+import edu.wpi.first.wpilibj.DriverStation;
 import frc.robot.subsystems.drive.DriveSubsystem;
 
 import java.util.ArrayList;
@@ -93,7 +94,7 @@ public void run() {
           }
         }
       } catch (InterruptedException e) {
-        e.printStackTrace();
+        DriverStation.reportError(e.toString(), true);
       } finally {
         signalsLock.unlock();
       }