Fix final errors in Drivetrain logic to get file ready for review

team4099 · Jun 22, 2024 · deef8c4 · deef8c4
1 parent cd079c5
commit deef8c4
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt
@@ -243,7 +243,7 @@ class Drivetrain(val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : SubsystemB
     swerveModules.forEach { it.updateInputs() }
     //    odometryLock.unlock()
 
-    Logger.processInputs("Gyro", gyroInputs)
+    CustomLogger.processInputs("Gyro", gyroInputs)
 
     gyroNotConnectedAlert.set(!gyroInputs.gyroConnected)
 
@@ -364,12 +364,12 @@ class Drivetrain(val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : SubsystemB
       }
       DrivetrainState.OPEN_LOOP -> {
         // Outputs
-        setOpenLoop(angularVelocityTarget, targetedDriveVector., isFieldOriented)
+        setOpenLoop(angularVelocityTarget, targetedDriveVector, isFieldOriented)
         CustomLogger.recordOutput(
-          "Drivetrain/TargetVelocityXInMPS", targetedDriveVector.first.inMetersPerSecond
+          "Drivetrain/TargetVelocityXInMPS", targetedDriveVector.x.inMetersPerSecond
         )
         CustomLogger.recordOutput(
-          "Drivetrain/TargetVelocityYInMPS", targetedDriveVector.second.inMetersPerSecond
+          "Drivetrain/TargetVelocityYInMPS", targetedDriveVector.y.inMetersPerSecond
         )
         // Transitions
         nextState = fromRequestToState(currentRequest)
@@ -439,7 +439,7 @@ class Drivetrain(val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : SubsystemB
         ChassisSpeeds.fromFieldRelativeSpeeds(
           driveVectorRespectiveToAlliance.x,
           driveVectorRespectiveToAlliance.y,
-          angularVelocity
+          angularVelocity,
           odomTRobot.rotation
         )
     } else {

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
@@ -1,6 +1,7 @@
 package com.team4099.robot2023.subsystems.superstructure
 
 import com.team4099.robot2023.config.constants.WristConstants
+import com.team4099.robot2023.util.Velocity2d
 import edu.wpi.first.math.kinematics.ChassisSpeeds
 import org.team4099.lib.units.AngularVelocity
 import org.team4099.lib.units.LinearVelocity
@@ -58,7 +59,7 @@ sealed interface Request {
   sealed interface DrivetrainRequest : Request {
     class OpenLoop(
       val angularVelocity: AngularVelocity,
-      val driveVector: Pair<LinearVelocity, LinearVelocity>,
+      val driveVector: Velocity2d,
       val fieldOriented: Boolean = true
     ) : DrivetrainRequest