From 4a77797e8639aaf14bfb9677ba09656bd9f616c6 Mon Sep 17 00:00:00 2001 From: yamamara Date: Tue, 2 Jul 2024 17:53:39 -0400 Subject: [PATCH] Made instantiation of the 0 velocity vector static --- .../8.4/executionHistory/executionHistory.bin | Bin 1207401 -> 1207401 bytes .../executionHistory/executionHistory.lock | Bin 17 -> 17 bytes .gradle/8.4/fileHashes/fileHashes.bin | Bin 159033 -> 159183 bytes .gradle/8.4/fileHashes/fileHashes.lock | Bin 17 -> 17 bytes .../8.4/fileHashes/resourceHashesCache.bin | Bin 107411 -> 108057 bytes .../buildOutputCleanup.lock | Bin 17 -> 17 bytes .../drivetrain/DriveBrakeModeCommand.kt | 3 ++- .../commands/drivetrain/DrivePathCommand.kt | 9 +++++---- .../subsystems/drivetrain/Drivetrain.kt | 6 +++--- .../com/team4099/robot2023/util/Velocity2d.kt | 5 ++--- 10 files changed, 12 insertions(+), 11 deletions(-) diff --git a/.gradle/8.4/executionHistory/executionHistory.bin b/.gradle/8.4/executionHistory/executionHistory.bin index 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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 index 83c79318..4223ccbf 100644 --- 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 = 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 = 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 index 4a593285..7788ba87 100644 --- 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