From a56fe620b0a04a6309e2653dafc677c22fd1dcfe Mon Sep 17 00:00:00 2001 From: Shom770 Date: Sat, 6 Jul 2024 16:50:15 -0400 Subject: [PATCH] Hopefully making it a supplier will fix things --- .gradle/8.4/checksums/checksums.lock | Bin 17 -> 17 bytes .../8.4/executionHistory/executionHistory.bin | Bin 2087823 -> 2507149 bytes .../executionHistory/executionHistory.lock | Bin 17 -> 17 bytes .gradle/8.4/fileHashes/fileHashes.bin | Bin 261069 -> 261269 bytes .gradle/8.4/fileHashes/fileHashes.lock | Bin 17 -> 17 bytes .../8.4/fileHashes/resourceHashesCache.bin | Bin 118597 -> 119141 bytes .../buildOutputCleanup.lock | Bin 17 -> 17 bytes ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 012 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 013 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 014 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 021 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 022 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 023 - 0 - ext.dat | Bin 2048 -> 2048 bytes ctre_sim/Talon FX vers. C - 024 - 0 - ext.dat | Bin 2048 -> 2048 bytes .../com/team4099/robot2023/RobotContainer.kt | 4 ++-- .../subsystems/drivetrain/Drivetrain.kt | 4 +++- 17 files changed, 5 insertions(+), 3 deletions(-) diff --git a/.gradle/8.4/checksums/checksums.lock b/.gradle/8.4/checksums/checksums.lock index d313e9baa5c8a633b3615c15dbd951ec958ca39c..bfaa0b837459d52014de5bf3598750dc3479096f 100644 GIT binary patch literal 17 UcmZSf%1;vr%gtzJ00X9903;~`-2eap literal 17 UcmZSf%1;vr%gtzJ00X8^03;y;)c^nh diff --git a/.gradle/8.4/executionHistory/executionHistory.bin b/.gradle/8.4/executionHistory/executionHistory.bin index 8aebbf71fcc285137cf6f8cf0025de365544a8f7..dabc87544c1b09f8b49e03e103b3a86107397676 100644 GIT binary patch delta 12569 zcmeHtX;c(f(=a`BGsECCmtmcOVG&S4mYESjToByF1u#bQWKoFG#6$&?m_#2H(5US$ zQK`7GMB}btj3Mrl7>yg^t}!U6S==#3lepkpb$c|=!T0;}et*7S@0>H|RM*z`)~#Dr zxBAYl$elfTkucB8q;aC3al~*ZmtOH4HjQ28W!RXpqt1{jkpF8gHPj^>#g5>prsc?t8T(Mz5#BJmH1qkY53Ob{n~DxC1YN`9iRE15;hQW 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C - 024 - 0 - ext.dat index b5b44faf43b21e9590804acda4dd7df0bcbfe1ce..24a87e5958fea00cf613f61b30868d9dbd49a93a 100644 GIT binary patch delta 58 zcmZn=Xb|AI&mhspz`)=*c_CBIWD`aomU|3}4M0xO#4<0o^9-`TL|7*ZTCtsDQ1~ST MWLa-!Wctqv0QrCsmH+?% delta 58 zcmZn=Xb@nz&7jgSc_CBLWHUxDjynv}Z43+yjzEE&i6uU4hZ*dD{bQLZXvKDj!Rgl@ MAj^6)Bh!CY03~!2lmGw# 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