refactor: rename phoenixTimeSyncSignalRefresher to odometrySignalRefr…

…esher
flamingchickens1540 · Jan 29, 2024 · c797e4f · c797e4f
1 parent d2ab399
commit c797e4f
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Showing 5 changed files with 17 additions and 21 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Robot.java b/src/main/java/org/team1540/robot2024/Robot.java
@@ -89,7 +89,7 @@ public void robotPeriodic() {
         // This must be called from the robot's periodic block in order for anything in
         // the Command-based framework to work.
         CommandScheduler.getInstance().run();
-        if (Constants.currentMode == Constants.Mode.REAL) robotContainer.timeSyncSignalRefresher.periodic();
+        if (Constants.currentMode == Constants.Mode.REAL) robotContainer.odometrySignalRefresher.periodic();
     }
 
     /**

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -38,7 +38,7 @@ public class RobotContainer {
     // Dashboard inputs
     public final LoggedDashboardChooser<Command> autoChooser;
 
-    public final PhoenixTimeSyncSignalRefresher timeSyncSignalRefresher = new PhoenixTimeSyncSignalRefresher(SwerveConfig.CAN_BUS);
+    public final PhoenixTimeSyncSignalRefresher odometrySignalRefresher = new PhoenixTimeSyncSignalRefresher(SwerveConfig.CAN_BUS);
 
     // TODO: testing dashboard inputs, remove for comp
     public final LoggedDashboardNumber leftFlywheelSetpoint = new LoggedDashboardNumber("Shooter/Flywheels/leftSetpoint", 6000);
@@ -53,11 +53,11 @@ public RobotContainer() {
                 // Real robot, instantiate hardware IO implementations
                 drivetrain =
                         new Drivetrain(
-                                new GyroIOPigeon2(timeSyncSignalRefresher),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_LEFT, SwerveFactory.SwerveCorner.FRONT_LEFT), timeSyncSignalRefresher),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_RIGHT, SwerveFactory.SwerveCorner.FRONT_RIGHT), timeSyncSignalRefresher),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_LEFT, SwerveFactory.SwerveCorner.BACK_LEFT), timeSyncSignalRefresher),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_RIGHT, SwerveFactory.SwerveCorner.BACK_RIGHT), timeSyncSignalRefresher));
+                                new GyroIOPigeon2(odometrySignalRefresher),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_LEFT, SwerveFactory.SwerveCorner.FRONT_LEFT), odometrySignalRefresher),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_RIGHT, SwerveFactory.SwerveCorner.FRONT_RIGHT), odometrySignalRefresher),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_LEFT, SwerveFactory.SwerveCorner.BACK_LEFT), odometrySignalRefresher),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_RIGHT, SwerveFactory.SwerveCorner.BACK_RIGHT), odometrySignalRefresher));
                 shooter = new Shooter(new ShooterPivotIOTalonFX(), new FlywheelsIOTalonFX());
                 break;
 

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIOPigeon2.java b/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIOPigeon2.java
@@ -18,22 +18,22 @@ public class GyroIOPigeon2 implements GyroIO {
     private final StatusSignal<Double> yaw = pigeon.getYaw();
     private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZDevice();
 
-    private final PhoenixTimeSyncSignalRefresher timeSyncSignalRefresher;
+    private final PhoenixTimeSyncSignalRefresher odometrySignalRefresher;
 
-    public GyroIOPigeon2(PhoenixTimeSyncSignalRefresher timeSyncSignalRefresher) {
+    public GyroIOPigeon2(PhoenixTimeSyncSignalRefresher odometrySignalRefresher) {
         pigeon.getConfigurator().apply(new Pigeon2Configuration());
         pigeon.getConfigurator().setYaw(0.0);
         yaw.setUpdateFrequency(100.0);
         yawVelocity.setUpdateFrequency(100.0);
         pigeon.optimizeBusUtilization();
 
-        this.timeSyncSignalRefresher = timeSyncSignalRefresher;
-        timeSyncSignalRefresher.registerSignals(yaw, yawVelocity);
+        this.odometrySignalRefresher = odometrySignalRefresher;
+        odometrySignalRefresher.registerSignals(yaw, yawVelocity);
     }
 
     @Override
     public void updateInputs(GyroIOInputs inputs) {
-        timeSyncSignalRefresher.refreshSignals();
+        odometrySignalRefresher.refreshSignals();
         inputs.connected = BaseStatusSignal.isAllGood(yaw, yawVelocity);
         inputs.yawPosition = Rotation2d.fromDegrees(yaw.getValueAsDouble());
         inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble());

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java
@@ -43,9 +43,9 @@ public class ModuleIOTalonFX implements ModuleIO {
     private final StatusSignal<Double> turnAppliedVolts;
     private final StatusSignal<Double> turnCurrent;
 
-    private final PhoenixTimeSyncSignalRefresher timeSyncSignalRefresher;
+    private final PhoenixTimeSyncSignalRefresher odometrySignalRefresher;
 
-    public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw, PhoenixTimeSyncSignalRefresher timeSyncSignalRefresher) {
+    public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw, PhoenixTimeSyncSignalRefresher odometrySignalRefresher) {
         driveTalon = hw.driveMotor;
         turnTalon = hw.turnMotor;
         cancoder = hw.cancoder;
@@ -77,14 +77,14 @@ public ModuleIOTalonFX(SwerveFactory.SwerveModuleHW hw, PhoenixTimeSyncSignalRef
         driveTalon.optimizeBusUtilization();
         turnTalon.optimizeBusUtilization();
 
-        this.timeSyncSignalRefresher = timeSyncSignalRefresher;
+        this.odometrySignalRefresher = odometrySignalRefresher;
 
-        timeSyncSignalRefresher.registerSignals(drivePosition, turnPosition);
+        odometrySignalRefresher.registerSignals(drivePosition, turnPosition);
     }
 
     @Override
     public void updateInputs(ModuleIOInputs inputs) {
-        timeSyncSignalRefresher.refreshSignals();
+        odometrySignalRefresher.refreshSignals();
         BaseStatusSignal.refreshAll(
                 driveVelocity,
                 driveAppliedVolts,

diff --git a/src/main/java/org/team1540/robot2024/util/PhoenixTimeSyncSignalRefresher.java b/src/main/java/org/team1540/robot2024/util/PhoenixTimeSyncSignalRefresher.java
@@ -4,13 +4,9 @@
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusCode;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Timer;
-import org.team1540.robot2024.Constants;
 
 import java.util.Arrays;
 
-import static org.team1540.robot2024.Constants.SwerveConfig.*;
-
 /**
  * Helper class for refreshing CANivore TimeSynced status signals.
  */