Refactor SwerveDrive to use DriveConstants for kinematics and remove …

…unused test files
TitaniumTigers4829 · Dec 31, 2024 · abaea2a · abaea2a
1 parent 34a0c4b
commit abaea2a
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Showing 3 changed files with 3 additions and 135 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc/robot/subsystems/swerve/SwerveDrive.java
@@ -42,7 +42,6 @@ public class SwerveDrive extends SubsystemBase {
 
   private final Alert gyroDisconnectedAlert =
       new Alert("Gyro Hardware Fault", Alert.AlertType.kError);
-  private SwerveDriveKinematics kinematics;
 
   public SwerveDrive(
       GyroInterface gyroIO,
@@ -54,7 +53,6 @@ public SwerveDrive(
     this.gyroInputs = new GyroInputsAutoLogged();
     this.rawGyroRotation = new Rotation2d();
 
-    setKinematics(DriveConstants.DRIVE_KINEMATICS);
     swerveModules =
         new SwerveModule[] {
           new SwerveModule(frontLeftModuleIO, "FrontLeft"),
@@ -72,7 +70,7 @@ public SwerveDrive(
         };
     poseEstimator =
         new SwerveDrivePoseEstimator(
-            getKinematics(),
+            DriveConstants.DRIVE_KINEMATICS,
             rawGyroRotation,
             lastModulePositions,
             new Pose2d(),
@@ -90,14 +88,6 @@ public SwerveDrive(
     gyroDisconnectedAlert.set(false);
   }
 
-  public SwerveDriveKinematics getKinematics() {
-    return kinematics;
-  }
-
-  public void setKinematics(SwerveDriveKinematics newKinematics) {
-    kinematics = newKinematics;
-  }
-
   /**
    * Gets the current velocity of the gyro's yaw
    *
@@ -198,7 +188,7 @@ private void modulesPeriodic() {
    */
   public void drive(double xSpeed, double ySpeed, double rotationSpeed, boolean fieldRelative) {
     SwerveModuleState[] swerveModuleStates =
-        getKinematics()
+        DriveConstants.DRIVE_KINEMATICS
             .toSwerveModuleStates(
                 fieldRelative
                     ? ChassisSpeeds.fromFieldRelativeSpeeds(
@@ -243,7 +233,7 @@ private void addPoseEstimatorSwerveMeasurement(int timestampIndex) {
     if (gyroInputs.isConnected) {
       rawGyroRotation = gyroInputs.odometryYawPositions[timestampIndex];
     } else {
-      Twist2d twist = getKinematics().toTwist2d(moduleDeltas);
+      Twist2d twist = DriveConstants.DRIVE_KINEMATICS.toTwist2d(moduleDeltas);
       rawGyroRotation = rawGyroRotation.plus(new Rotation2d(twist.dtheta));
     }
 

diff --git a/src/test/java/SwerveDriveTest.java b/src/test/java/SwerveDriveTest.java
diff --git a/src/test/java/SwerveModuleTest.java b/src/test/java/SwerveModuleTest.java