Made instantiation of the 0 velocity vector static

team4099 · Jul 2, 2024 · 4a77797 · 4a77797
1 parent 927a15a
commit 4a77797
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Showing 10 changed files with 12 additions and 11 deletions.
diff --git a/.gradle/8.4/executionHistory/executionHistory.bin b/.gradle/8.4/executionHistory/executionHistory.bin
diff --git a/.gradle/8.4/executionHistory/executionHistory.lock b/.gradle/8.4/executionHistory/executionHistory.lock
diff --git a/.gradle/8.4/fileHashes/fileHashes.bin b/.gradle/8.4/fileHashes/fileHashes.bin
diff --git a/.gradle/8.4/fileHashes/fileHashes.lock b/.gradle/8.4/fileHashes/fileHashes.lock
diff --git a/.gradle/8.4/fileHashes/resourceHashesCache.bin b/.gradle/8.4/fileHashes/resourceHashesCache.bin
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DriveBrakeModeCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DriveBrakeModeCommand.kt
@@ -13,7 +13,8 @@ class DriveBrakeModeCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    drivetrain.currentRequest = DrivetrainRequest.OpenLoop(0.0.radians.perSecond, Velocity2d())
+    drivetrain.currentRequest =
+      DrivetrainRequest.OpenLoop(0.0.radians.perSecond, Velocity2d.ZERO_VELOCITY_VECTOR)
     drivetrain.swerveModules.forEach() { it.setDriveBrakeMode(true) }
   }
 

diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
@@ -73,7 +73,7 @@ private constructor(
   val flipForAlliances: Boolean = true,
   val endPathOnceAtReference: Boolean = true,
   val leaveOutYAdjustment: Boolean = false,
-  val endVelocity: Velocity2d = Velocity2d(),
+  val endVelocity: Velocity2d = Velocity2d.ZERO_VELOCITY_VECTOR,
   var stateFrame: FrameType = FrameType.ODOMETRY,
   var pathFrame: FrameType = FrameType.FIELD,
 ) : Command() {
@@ -427,7 +427,8 @@ private constructor(
       // Execute one last time to end up in the final state of the trajectory
       // Since we weren't interrupted, we know curTime > endTime
       execute()
-      drivetrain.currentRequest = DrivetrainRequest.OpenLoop(0.0.radians.perSecond, Velocity2d())
+      drivetrain.currentRequest =
+        DrivetrainRequest.OpenLoop(0.0.radians.perSecond, Velocity2d.ZERO_VELOCITY_VECTOR)
     }
   }
 
@@ -443,7 +444,7 @@ private constructor(
       flipForAlliances: Boolean = true,
       endPathOnceAtReference: Boolean = true,
       leaveOutYAdjustment: Boolean = false,
-      endVelocity: Velocity2d = Velocity2d(),
+      endVelocity: Velocity2d = Velocity2d.ZERO_VELOCITY_VECTOR,
       stateFrame: FrameType = FrameType.ODOMETRY,
     ): DrivePathCommand<OdometryWaypoint> =
       DrivePathCommand(
@@ -467,7 +468,7 @@ private constructor(
       flipForAlliances: Boolean = true,
       endPathOnceAtReference: Boolean = true,
       leaveOutYAdjustment: Boolean = false,
-      endVelocity: Velocity2d = Velocity2d(),
+      endVelocity: Velocity2d = Velocity2d.ZERO_VELOCITY_VECTOR,
       stateFrame: FrameType = FrameType.ODOMETRY,
     ): DrivePathCommand<FieldWaypoint> =
       DrivePathCommand(

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
@@ -69,7 +69,7 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
 
   private var angularVelocityTarget = 0.degrees.perSecond
 
-  private var targetedDriveVector = Velocity2d()
+  private var targetedDriveVector = Velocity2d.ZERO_VELOCITY_VECTOR
 
   private var isFieldOriented = true
 
@@ -81,10 +81,10 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
 
   var targetPose: Pose2d = Pose2d(0.0.meters, 0.0.meters, 0.0.radians)
 
-  var fieldVelocity = Velocity2d()
+  var fieldVelocity = Velocity2d.ZERO_VELOCITY_VECTOR
     private set
 
-  var robotVelocity = Velocity2d()
+  var robotVelocity = Velocity2d.ZERO_VELOCITY_VECTOR
     private set
 
   private var omegaVelocity = 0.0.radians.perSecond

diff --git a/src/main/kotlin/com/team4099/robot2023/util/Velocity2d.kt b/src/main/kotlin/com/team4099/robot2023/util/Velocity2d.kt
@@ -12,16 +12,15 @@ import org.team4099.lib.units.perSecond
 import kotlin.math.hypot
 
 data class Velocity2d(val x: LinearVelocity, val y: LinearVelocity) {
-
-  constructor() : this(0.0.meters.perSecond, 0.0.meters.perSecond)
-
   val velocity2dWPIlib = Translation2d(x.inMetersPerSecond, y.inMetersPerSecond)
 
   val magnitude = hypot(x.inMetersPerSecond, y.inMetersPerSecond).meters.perSecond
 
   val heading: Angle = velocity2dWPIlib.angle.angle
 
   companion object {
+    val ZERO_VELOCITY_VECTOR = Velocity2d(0.0.meters.perSecond, 0.0.meters.perSecond)
+
     fun fromVelocityVectorToVelocity2d(speed: LinearVelocity, heading: Angle): Velocity2d {
       return Velocity2d(speed * heading.cos, speed * heading.sin)
     }