feat: add config ternaries for multiple robots

flamingchickens1540 · Jan 17, 2024 · a6ef3da · a6ef3da
1 parent a4d0e0c
commit a6ef3da
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Showing 3 changed files with 20 additions and 8 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -11,7 +11,11 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final Mode currentMode = Robot.isReal() ? Mode.REAL : Mode.SIM;
+    public static final boolean IS_COMPETITION_ROBOT = true;
+    private static final Mode simMode = Mode.SIM; // Can also be Mode.REPLAY
+
+
+    public static final Mode currentMode = Robot.isReal() ? Mode.REAL : simMode;
 
     public enum Mode {
         /**
@@ -32,8 +36,14 @@ public enum Mode {
 
     public static final double LOOP_PERIOD_SECS = 0.02;
 
+    public static class SwerveConfig {
+        public static final String CAN_BUS = IS_COMPETITION_ROBOT ? "" : "";
+        public static final int FRONT_LEFT  = IS_COMPETITION_ROBOT ? 3 : 0;
+        public static final int FRONT_RIGHT = IS_COMPETITION_ROBOT ? 4 : 0;
+        public static final int BACK_LEFT   = IS_COMPETITION_ROBOT ? 7 : 0;
+        public static final int BACK_RIGHT  = IS_COMPETITION_ROBOT ? 1 : 0;
+    }
     public static class Drivetrain {
-        public static final String CAN_BUS = "";
         public static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);
         public static final double TURN_GEAR_RATIO = 150.0 / 7.0;
         public static final boolean IS_TURN_MOTOR_INVERTED = true;

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -8,6 +8,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+import org.team1540.robot2024.Constants.SwerveConfig;
 import org.team1540.robot2024.commands.FeedForwardCharacterization;
 import org.team1540.robot2024.commands.SwerveDriveCommand;
 import org.team1540.robot2024.subsystems.drive.*;
@@ -42,10 +44,10 @@ public RobotContainer() {
                 drivetrain =
                         new Drivetrain(
                                 new GyroIONavx(),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(3, SwerveFactory.SwerveCorner.FRONT_LEFT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(4, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(7, SwerveFactory.SwerveCorner.BACK_LEFT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(1, SwerveFactory.SwerveCorner.BACK_RIGHT)));
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_LEFT, SwerveFactory.SwerveCorner.FRONT_LEFT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_RIGHT, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_LEFT, SwerveFactory.SwerveCorner.BACK_LEFT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_RIGHT, SwerveFactory.SwerveCorner.BACK_RIGHT)));
                 break;
 
             case SIM:

diff --git a/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java b/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java
@@ -8,7 +8,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import edu.wpi.first.math.geometry.Rotation2d;
-import org.team1540.robot2024.Constants;
+import static org.team1540.robot2024.Constants.SwerveConfig.CAN_BUS;;
 
 public class SwerveFactory {
     private static final double[] moduleOffsetsRots = new double[]{
@@ -23,7 +23,7 @@ public class SwerveFactory {
     };
 
     public static SwerveModuleHW getModuleMotors(int id, SwerveCorner corner) {
-        return new SwerveModuleHW(id, corner, Constants.Drivetrain.CAN_BUS);
+        return new SwerveModuleHW(id, corner, CAN_BUS);
     }
 
     public enum SwerveCorner {