Use isOK() method

Mechanical-Advantage · Feb 15, 2024 · b3980c0 · b3980c0
1 parent 976a7c3
commit b3980c0
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Module.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Module.java
@@ -73,7 +73,7 @@ public void updateInputs() {
     LoggedTunableNumber.ifChanged(
         hashCode(), () -> io.setTurnPID(turnkP.get(), 0, turnkD.get()), turnkP, turnkD);
 
-    // Display warnings
+    // Display alerts
     driveMotorDisconnected.set(!inputs.driveMotorConnected);
     turnMotorDisconnected.set(!inputs.turnMotorConnected);
   }

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOKrakenFOC.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOKrakenFOC.java
@@ -63,8 +63,8 @@ public class ModuleIOKrakenFOC implements ModuleIO {
       new VelocityTorqueCurrentFOC(0).withUpdateFreqHz(0);
   private final PositionTorqueCurrentFOC turnPositionControl =
       new PositionTorqueCurrentFOC(0).withUpdateFreqHz(0);
-  private final NeutralOut driveBrake = new NeutralOut().withUpdateFreqHz(0);
-  private final NeutralOut turnBrake = new NeutralOut().withUpdateFreqHz(0);
+  private final NeutralOut driveNeutral = new NeutralOut().withUpdateFreqHz(0);
+  private final NeutralOut turnNeutral = new NeutralOut().withUpdateFreqHz(0);
 
   public ModuleIOKrakenFOC(ModuleConfig config) {
     // Init controllers and encoders from config constants
@@ -156,11 +156,11 @@ public void updateInputs(ModuleIOInputs inputs) {
                 driveAppliedVolts,
                 driveSupplyCurrent,
                 driveTorqueCurrent)
-            == StatusCode.OK;
+            .isOK();
     inputs.turnMotorConnected =
         BaseStatusSignal.refreshAll(
                 turnPosition, turnVelocity, turnAppliedVolts, turnSupplyCurrent, turnTorqueCurrent)
-            == StatusCode.OK;
+            .isOK();
 
     inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble());
     inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble());
@@ -247,7 +247,7 @@ public void setTurnBrakeMode(boolean enable) {
 
   @Override
   public void stop() {
-    driveTalon.setControl(driveBrake);
-    turnTalon.setControl(turnBrake);
+    driveTalon.setControl(driveNeutral);
+    turnTalon.setControl(turnNeutral);
   }
 }