Hopefully making it a supplier will fix things

team4099 · Jul 6, 2024 · a56fe62 · a56fe62
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Showing 17 changed files with 5 additions and 3 deletions.
diff --git a/.gradle/8.4/checksums/checksums.lock b/.gradle/8.4/checksums/checksums.lock
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/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 012 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 012 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 013 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 013 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 014 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 014 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 021 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 021 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 022 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 022 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 023 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 023 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 024 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 024 - 0 - ext.dat
diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
@@ -128,7 +128,7 @@ object RobotContainer {
       // Real Hardware Implementations
       // drivetrain = Drivetrain(object: GyroIO {},object: DrivetrainIO {}
 
-      drivetrain = Drivetrain(GyroIOPigeon2, SWERVE_MODULES_REAL)
+      drivetrain = Drivetrain(GyroIOPigeon2, { SWERVE_MODULES_REAL })
       vision = Vision(object : CameraIO {})
       limelight = LimelightVision(LimelightVisionIOReal)
       intake = Intake(IntakeIOFalconNEO)
@@ -138,7 +138,7 @@ object RobotContainer {
       wrist = Wrist(WristIOTalon)
     } else {
       // Simulation implementations
-      drivetrain = Drivetrain(object : GyroIO {}, SWERVE_MODULES_SIM)
+      drivetrain = Drivetrain(object : GyroIO {}, { SWERVE_MODULES_SIM })
       vision = Vision(object : CameraIO {})
       limelight = LimelightVision(object : LimelightVisionIO {})
       intake = Intake(IntakeIOSim)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
@@ -50,7 +50,7 @@ import java.util.concurrent.locks.Lock
 import java.util.concurrent.locks.ReentrantLock
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
-class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModule>) :
+class Drivetrain(private val gyroIO: GyroIO, val swerveModuleSupplier: () -> List<SwerveModule>) :
   SubsystemBase() {
   object TunableDriveStates {
 
@@ -99,6 +99,8 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
   private val swerveModuleID =
     LoggedTunableValue("Drivetrain/testModule", 0.degrees, Pair({ it.inDegrees }, { it.degrees }))
 
+  val swerveModules = swerveModuleSupplier()
+
   var currentRequest: DrivetrainRequest = DrivetrainRequest.ZeroSensors()
     set(value) {
       when (value) {