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diff --git a/src/main/java/org/codeorange/frc2024/subsystem/climber/ClimberIO.java b/src/main/java/org/codeorange/frc2024/subsystem/climber/ClimberIO.java index b913c99..dcfaee6 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/climber/ClimberIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/climber/ClimberIO.java @@ -6,7 +6,7 @@ public interface ClimberIO { @AutoLog class ClimberInputs { - MotorInputs climber; + MotorInputs climber = new MotorInputs(); boolean limitSwitchPushed = false; //String relayValue = "hi"; diff --git a/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIO.java b/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIO.java index de7f705..c77b43f 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIO.java @@ -7,9 +7,9 @@ public interface ModuleIO { @AutoLog class ModuleInputs { - MotorInputs driveMotor; + MotorInputs driveMotor = new MotorInputs(); public double steerMotorAbsolutePosition; - MotorInputs steerMotor; + MotorInputs steerMotor = new MotorInputs(); public double[] odometryTimestamps = new double[] {}; public double[] odometryDrivePositionsMeters = new double[] {}; diff --git a/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOTalonFX.java b/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOTalonFX.java index c5a9049..8413305 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOTalonFX.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOTalonFX.java @@ -79,7 +79,7 @@ public ModuleIOTalonFX(int id) { driveConfigs.CurrentLimits.SupplyCurrentLimit = DRIVE_MOTOR_CURRENT_LIMIT; driveConfigs.CurrentLimits.StatorCurrentLimitEnable = false; driveConfigs.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RotorSensor; - driveConfigs.Feedback.SensorToMechanismRatio = 1 / (DRIVE_MOTOR_REDUCTION * SWERVE_METER_PER_ROTATION); + driveConfigs.Feedback.SensorToMechanismRatio = 1; // / (DRIVE_MOTOR_REDUCTION * SWERVE_METER_PER_ROTATION); driveConfigs.Feedback.RotorToSensorRatio = 1; driveConfigs.OpenLoopRamps.DutyCycleOpenLoopRampPeriod = 0.25; driveConfigs.OpenLoopRamps.VoltageOpenLoopRampPeriod = 0.1; diff --git a/src/main/java/org/codeorange/frc2024/subsystem/elevator/ElevatorIO.java b/src/main/java/org/codeorange/frc2024/subsystem/elevator/ElevatorIO.java index 33eabe6..7520cc9 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/elevator/ElevatorIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/elevator/ElevatorIO.java @@ -6,8 +6,8 @@ public interface ElevatorIO { @AutoLog class ElevatorInputs { - MotorInputs leadMotor; - MotorInputs followMotor; + MotorInputs leadMotor = new MotorInputs(); + MotorInputs followMotor = new MotorInputs(); } default void updateInputs(ElevatorInputs inputs) {} diff --git a/src/main/java/org/codeorange/frc2024/subsystem/intake/IntakeIO.java b/src/main/java/org/codeorange/frc2024/subsystem/intake/IntakeIO.java index 540e2d8..4fe2a31 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/intake/IntakeIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/intake/IntakeIO.java @@ -6,7 +6,7 @@ public interface IntakeIO { @AutoLog class IntakeInputs { - MotorInputs intake; + MotorInputs intake = new MotorInputs(); boolean hasNote; } diff --git a/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIO.java b/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIO.java index 9fed383..c2219ce 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIO.java @@ -6,8 +6,8 @@ public interface ShooterIO { @AutoLog class ShooterInputs { - MotorInputs leadMotor; - MotorInputs followMotor; + MotorInputs leadMotor = new MotorInputs(); + MotorInputs followMotor = new MotorInputs(); } default void updateInputs(ShooterInputs inputs) { diff --git a/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIO.java b/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIO.java index ef223ce..4777e05 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIO.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIO.java @@ -7,7 +7,7 @@ public interface WristIO { @AutoLog class WristInputs { double wristAbsolutePosition = 0.0; - MotorInputs wrist; + MotorInputs wrist = new MotorInputs(); } default void updateInputs(WristInputs inputs) {} diff --git a/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java b/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java index c347733..6b0312e 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java @@ -11,6 +11,8 @@ import org.codeorange.frc2024.utility.OrangeUtility; import org.codeorange.frc2024.utility.logging.TalonFXAutoLogger; +import java.util.function.Supplier; + import static org.codeorange.frc2024.robot.Constants.Ports.*; import static org.codeorange.frc2024.robot.Constants.*;