Renamed swerve/Adjusted IMU Reading to swerve/imu/adjusted and `s…

…werve/Raw IMU Yaw` to `swerve/imu/raw`. Removed unnecessary warning. Made Pigeon2 use `refresh` instead of `waitForUpdate`. Shortened CANCoder refresh time to 1ms.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

src/main/java/swervelib/SwerveDrive.java

@@ -118,16 +118,20 @@ public class SwerveDrive
    */
   private final DoublePublisher     rawIMUPublisher
                                                                                     = NetworkTableInstance.getDefault()
+                                                                                                          .getTable(
+                                                                                                              "SmartDashboard")
                                                                                                           .getDoubleTopic(
-                                                                                                              "SmartDashboard/swerve/Raw IMU Yaw")
+                                                                                                              "swerve/imu/raw")
                                                                                                           .publish();
   /**
    * NT4 Publisher for the IMU reading adjusted by offset and inversion.
    */
   private final DoublePublisher     adjustedIMUPublisher
                                                                                     = NetworkTableInstance.getDefault()
+                                                                                                          .getTable(
+                                                                                                              "SmartDashboard")
                                                                                                           .getDoubleTopic(
-                                                                                                              "SmartDashboard/swerve/Adjusted IMU Yaw")
+                                                                                                              "swerve/imu/adjusted")
                                                                                                           .publish();
   /**
    * Field object.

src/main/java/swervelib/SwerveModule.java

@@ -796,13 +796,17 @@ public void updateTelemetry()
     {
       rawAbsoluteAnglePublisher.set(absoluteEncoder.getAbsolutePosition());
     }
-    if (SwerveDriveTelemetry.isSimulation)
+    if (SwerveDriveTelemetry.isSimulation && SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
     {
       SwerveModulePosition pos   = simModule.getPosition();
       SwerveModuleState    state = simModule.getState();
       rawAnglePublisher.set(pos.angle.getDegrees());
       rawDriveEncoderPublisher.set(pos.distanceMeters);
       rawDriveVelocityPublisher.set(state.speedMetersPerSecond);
+      // For code coverage
+      angleMotor.getPosition();
+      drivePositionCache.getValue();
+      driveVelocityCache.getValue();
     } else
     {
       rawAnglePublisher.set(angleMotor.getPosition());

src/main/java/swervelib/encoders/CANCoderSwerve.java

@@ -28,7 +28,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * Wait time for status frames to show up.
    */
-  public static double                          STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
+  public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(1).in(Seconds);
   /**
    * An {@link Alert} for if the CANCoder magnet field is less than ideal.
    */
@@ -158,6 +158,7 @@ public double getAbsolutePosition()
   {
     readingError = false;
     MagnetHealthValue strength = magnetHealth.refresh().getValue();
+    angle.refresh();
 
     magnetFieldLessThanIdeal.set(strength != MagnetHealthValue.Magnet_Green);
     if (strength == MagnetHealthValue.Magnet_Invalid || strength == MagnetHealthValue.Magnet_Red)
@@ -170,7 +171,6 @@ public double getAbsolutePosition()
       readingFaulty.set(false);
     }
 
-    angle.refresh();
 
     // Taken from democat's library.
     // Source: https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
@@ -190,8 +190,8 @@ public double getAbsolutePosition()
     {
       readingIgnored.set(false);
     }
-
-    return angle.getValue().in(Degrees);
+    // Convert from Rotations to Degrees.
+    return angle.getValueAsDouble() * 360;
   }
 
   /**

src/main/java/swervelib/imu/Pigeon2Swerve.java

@@ -167,7 +167,7 @@ public Optional<Translation3d> getAccel()
   @Override
   public MutAngularVelocity getYawAngularVelocity()
   {
-    return yawVel.mut_replace(imu.getAngularVelocityZWorld().waitForUpdate(STATUS_TIMEOUT_SECONDS).getValue());
+    return yawVel.mut_replace(imu.getAngularVelocityZWorld().refresh().getValue());
   }
 
   /**

src/main/java/swervelib/motors/SparkFlexSwerve.java

@@ -57,18 +57,10 @@ public class SparkFlexSwerve extends SwerveMotor
    * Supplier for the position of the motor controller.
    */
   private       Supplier<Double>          position;
-  /**
-   * Factory default already occurred.
-   */
-  private       boolean                   factoryDefaultOccurred = false;
   /**
    * An {@link Alert} for if there is an error configuring the motor.
    */
   private       Alert                     failureConfiguring;
-  /**
-   * An {@link Alert} for if the absolute encoder's offset is set in the json instead of the hardware client.
-   */
-  private       Alert                     absoluteEncoderOffsetWarning;
   /**
    * Configuration object for {@link SparkFlex} motor.
    */
@@ -99,10 +91,6 @@ public SparkFlexSwerve(SparkFlex motor, boolean isDriveMotor, DCMotor motorType)
                                    "Failure configuring motor " +
                                    motor.getDeviceId(),
                                    AlertType.kWarning);
-    absoluteEncoderOffsetWarning = new Alert("Motors",
-                                             "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the " +
-                                             "absoluteEncoderOffset in the Swerve Module JSON!",
-                                             AlertType.kWarning);
     velocity = encoder::getVelocity;
     position = encoder::getPosition;
   }
@@ -272,7 +260,6 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
     } else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
     {
       cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
-      absoluteEncoderOffsetWarning.set(true);
       absoluteEncoder = encoder;
 
       velocity = absoluteEncoder::getVelocity;

src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java

@@ -333,10 +333,6 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
       cfg.closedLoop.feedbackSensor(encoder instanceof SparkMaxAnalogEncoderSwerve
                                     ? FeedbackSensor.kAnalogSensor : FeedbackSensor.kAbsoluteEncoder);
 
-      DriverStation.reportWarning(
-          "IF possible configure the encoder offset in the REV Hardware Client instead of using the" +
-          " absoluteEncoderOffset in the Swerve Module JSON!",
-          false);
       absoluteEncoder = encoder;
       velocity = absoluteEncoder::getVelocity;
       position = absoluteEncoder::getAbsolutePosition;

src/main/java/swervelib/motors/SparkMaxSwerve.java

@@ -262,10 +262,6 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
       cfg.closedLoop.feedbackSensor(encoder instanceof SparkMaxAnalogEncoderSwerve
                                     ? FeedbackSensor.kAnalogSensor : FeedbackSensor.kAbsoluteEncoder);
 
-      DriverStation.reportWarning(
-          "IF possible configure the encoder offset in the REV Hardware Client instead of using the" +
-          " absoluteEncoderOffset in the Swerve Module JSON!",
-          false);
       absoluteEncoder = encoder;
       velocity = absoluteEncoder::getVelocity;
       position = absoluteEncoder::getAbsolutePosition;