fix: swerve motor current is no longer logged as an array

flamingchickens1540 · Jan 15, 2024 · e43532d · e43532d
1 parent d7cd339
commit e43532d
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIO.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIO.java
@@ -9,13 +9,13 @@ class ModuleIOInputs {
         public double drivePositionRad = 0.0;
         public double driveVelocityRadPerSec = 0.0;
         public double driveAppliedVolts = 0.0;
-        public double[] driveCurrentAmps = new double[]{};
+        public double driveCurrentAmps = 0.0;
 
         public Rotation2d turnAbsolutePosition = new Rotation2d();
         public Rotation2d turnPosition = new Rotation2d();
         public double turnVelocityRadPerSec = 0.0;
         public double turnAppliedVolts = 0.0;
-        public double[] turnCurrentAmps = new double[]{};
+        public double turnCurrentAmps = 0.0;
     }
 
     /**

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOSim.java
@@ -28,13 +28,13 @@ public void updateInputs(ModuleIOInputs inputs) {
         inputs.drivePositionRad = driveSim.getAngularPositionRad();
         inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();
         inputs.driveAppliedVolts = driveAppliedVolts;
-        inputs.driveCurrentAmps = new double[]{Math.abs(driveSim.getCurrentDrawAmps())};
+        inputs.driveCurrentAmps = Math.abs(driveSim.getCurrentDrawAmps());
 
         inputs.turnAbsolutePosition = new Rotation2d(turnSim.getAngularPositionRad()).plus(turnAbsoluteInitPosition);
         inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad());
         inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec();
         inputs.turnAppliedVolts = turnAppliedVolts;
-        inputs.turnCurrentAmps = new double[]{Math.abs(turnSim.getCurrentDrawAmps())};
+        inputs.turnCurrentAmps = Math.abs(turnSim.getCurrentDrawAmps());
     }
 
     @Override

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java
@@ -77,13 +77,13 @@ public void updateInputs(ModuleIOInputs inputs) {
         inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
         inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / Constants.Drivetrain.DRIVE_GEAR_RATIO;
         inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble();
-        inputs.driveCurrentAmps = new double[]{driveCurrent.getValueAsDouble()};
+        inputs.driveCurrentAmps = driveCurrent.getValueAsDouble();
 
         inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()).plus(absoluteEncoderOffset);
         inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble() / Constants.Drivetrain.TURN_GEAR_RATIO);
         inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / Constants.Drivetrain.TURN_GEAR_RATIO;
         inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
-        inputs.turnCurrentAmps = new double[]{turnCurrent.getValueAsDouble()};
+        inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
     }
 
     @Override