idk

src/main/java/frc/robot/subsystems/swerve/SwerveDrive.java

@@ -1,5 +1,7 @@
 package frc.robot.subsystems.swerve;
 
+import static edu.wpi.first.units.Units.*;
+
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -86,6 +88,11 @@ public SwerveDrive(
     gyroDisconnectedAlert.set(false);
   }
 
+  /**
+   * Gets the current velocity of the gyro's yaw
+   *
+   * @return the yaw velocity
+   */
   public double getGyroRate() {
     return gyroInputs.yawVelocity;
   }
@@ -110,12 +117,6 @@ public void addPoseEstimatorVisionMeasurement(
     poseEstimator.addVisionMeasurement(visionMeasurement, currentTimeStampSeconds);
   }
 
-  public void setTurnPosition(double position) {
-    for (SwerveModule module : swerveModules) {
-      module.setTurnPosition(position);
-    }
-  }
-
   /**
    * Sets the standard deviations of model states, or how much the april tags contribute to the pose
    * estimation of the robot. Lower numbers equal higher confidence and vice versa.
@@ -145,7 +146,7 @@ public void periodic() {
    */
   public void runCharacterization(double volts) {
     for (SwerveModule module : swerveModules) {
-      module.setVoltage(-volts);
+      module.setVoltage(Volts.of(-volts));
     }
   }
 

src/main/java/frc/robot/subsystems/swerve/SwerveModule.java

@@ -1,8 +1,11 @@
 package frc.robot.subsystems.swerve;
 
+import static edu.wpi.first.units.Units.Volts;
+
 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.units.measure.Voltage;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -42,9 +45,9 @@ public void periodic() {
     updateOdometryPositions();
   }
 
-  public void setVoltage(double volts) {
+  public void setVoltage(Voltage volts) {
     io.setDriveVoltage(volts);
-    io.setTurnVoltage(0.0);
+    io.setTurnVoltage(Volts.zero());
   }
 
   public double getDriveVoltage() {

src/main/java/frc/robot/subsystems/swerve/moduleIO/ModuleInterface.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.units.measure.Voltage;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface ModuleInterface {
@@ -33,7 +34,11 @@ class ModuleInputs {
     public double turnPosition = 0.0;
   }
 
-  /** Updates the inputs */
+  /**
+   * Updates the inputs
+   *
+   * @param inputs the inputs to update
+   */
   void updateInputs(ModuleInputs inputs);
 
   String getCANBus();
@@ -65,15 +70,9 @@ class ModuleInputs {
    */
   void setTurnSpeed(double powerPercent);
 
-  /** Enable or disable brake mode on the drive motor. */
-  void setDriveBrake(boolean enable);
-
-  /** Enable or disable brake mode on the turn motor. */
-  void setTurnBrake(boolean enable);
-
-  void setDriveVoltage(double voltage);
+  void setDriveVoltage(Voltage voltage);
 
-  void setTurnVoltage(double voltage);
+  void setTurnVoltage(Voltage voltage);
 
   void stopModule();
 

src/main/java/frc/robot/subsystems/swerve/moduleIO/PhysicalModule.java

@@ -180,12 +180,12 @@ public double getDriveVelocity() {
   }
 
   @Override
-  public void setDriveVoltage(double volts) {
+  public void setDriveVoltage(Voltage volts) {
     driveMotor.setControl(voltageOut.withOutput(volts));
   }
 
   @Override
-  public void setTurnVoltage(double volts) {
+  public void setTurnVoltage(Voltage volts) {
     turnMotor.setControl(voltageOut.withOutput(volts));
   }
 
@@ -221,13 +221,9 @@ public void setDesiredState(SwerveModuleState desiredState) {
             * ModuleConstants.DRIVE_GEAR_RATIO
             / ModuleConstants.WHEEL_CIRCUMFERENCE_METERS;
 
-    driveMotor.setControl(velocityRequest.withVelocity(desiredDriveRPS));
-    turnMotor.setControl(mmPositionRequest.withPosition(setpoint.angle.getRotations()));
-  }
-
-  @Override
-  public void setDriveBrake(boolean enable) {
-    driveMotor.setNeutralMode(enable ? NeutralModeValue.Brake : NeutralModeValue.Coast);
+    driveMotor.setControl(velocityRequest.withVelocity(RotationsPerSecond.of(desiredDriveRPS)));
+    turnMotor.setControl(
+        mmPositionRequest.withPosition(Rotations.of(setpoint.angle.getRotations())));
   }
 
   public double getTurnRotations() {
@@ -236,11 +232,6 @@ public double getTurnRotations() {
         .getRotations();
   }
 
-  @Override
-  public void setTurnBrake(boolean enable) {
-    turnMotor.setNeutralMode(enable ? NeutralModeValue.Brake : NeutralModeValue.Coast);
-  }
-
   @Override
   public void stopModule() {
     driveMotor.stopMotor();

src/main/java/frc/robot/subsystems/swerve/moduleIO/SimulatedModule.java

@@ -9,12 +9,13 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Voltage;
 import frc.robot.extras.simulation.OdometryTimestampsSim;
 import frc.robot.extras.simulation.mechanismSim.swervePhysicsSim.SwerveModuleSimulation;
 import frc.robot.subsystems.swerve.SwerveConstants.ModuleConstants;
 import java.util.Arrays;
 
-/** Wrapper class around {@link SwerveModuleSimulation} that implements ModuleIO */
+/** Wrapper class around {@link SwerveModuleSimulation} */
 public class SimulatedModule implements ModuleInterface {
   private final SwerveModuleSimulation moduleSimulation;
 
@@ -55,7 +56,7 @@ public void updateInputs(ModuleInputs inputs) {
   }
 
   @Override
-  public void setDriveVoltage(double volts) {
+  public void setDriveVoltage(Voltage volts) {
     moduleSimulation.requestDriveVoltageOut(volts);
   }
 
@@ -78,7 +79,7 @@ public double getTurnAbsolutePosition() {
   }
 
   @Override
-  public void setTurnVoltage(double volts) {
+  public void setTurnVoltage(Voltage volts) {
     moduleSimulation.requestTurnVoltageOut(volts);
   }
 
@@ -145,18 +146,6 @@ public void setTurnSpeed(double powerPercent) {
     throw new UnsupportedOperationException("Unimplemented method 'setTurnSpeed'");
   }
 
-  @Override
-  public void setDriveBrake(boolean enable) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'setDriveBrake'");
-  }
-
-  @Override
-  public void setTurnBrake(boolean enable) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'setTurnBrake'");
-  }
-
   @Override
   public void stopModule() {
     // TODO Auto-generated method stub