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C - 024 - 0 - ext.dat differ diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt index a85345bb..90057bd0 100644 --- 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 index a7861c11..ae57653f 100644 --- 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) : +class Drivetrain(private val gyroIO: GyroIO, val swerveModuleSupplier: () -> List) : SubsystemBase() { object TunableDriveStates { @@ -99,6 +99,8 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List