Swerve gil #302

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goooooooooooooooooose wants to merge 116 commits into dev from swerve-gil

Contributor

goooooooooooooooooose commented Oct 12, 2025

added the most simple version of classes needed to program a swerve drivetrain into spikesLib. Most likely will later on create more complicated version with odometry, paths (using {PathPlanner), sysID etc. This list is desired but I will not promise anything yet.

goooooooooooooooooose added 7 commits

October 7, 2025 17:39


          fixed typo

4219d25


          added SwerveModule.java

5fab74d


          added SwerveModuleHolder.java

d725672


          added SwerveDrivetrain.java

bc914e9


          renamed stop func


          deleted SwerveModuleHolder.java

6702cfb


          added DriveSwerve.java

bf05cac

TurtleMinecraft requested changes

View reviewed changes

Member

TurtleMinecraft left a comment

ctrl alt l ctrl alt o every file after finishing

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/DriveSwerve.java Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/DriveSwerve.java Outdated Show resolved Hide resolved

goooooooooooooooooose added 12 commits

October 15, 2025 21:54


          deleted default center of mass

3756d36


          deleted "this" from currentRobotAngle

eb2de33


          ended WW3

ea24ec5


          namespaceName

17c046c


          fixing stupid and untrue name

f001d16


          ended WW3 2.0

b6a1393


          renamed "timer"

eaf9da3

not sure if this is any better, perhaps I should name it timeStep?


          ctrl l + ctrl o


          defaulted the namespace name


          deleted usePIDAngle

bf01952


          made the absoluteEncoder be neutral

6ebdbb8


          cntrl l + cntrl o

20ca952

TurtleMinecraft requested changes

View reviewed changes

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

TurtleMinecraft reviewed

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src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveModule.java Outdated Show resolved Hide resolved

goooooooooooooooooose added 8 commits

October 18, 2025 23:48


          protected my people

c46cf7b


          deleted unnecessary calling of setCurrentRobotAngle

8c571e3


          celeriac func purpose through its name

c17ee7c


          celeriac func purpose through its name 2.0

aa924ac


          used a generic name

d3c4756


          consistency!

afb20e4


          ditto

8271e3e


          killed this PEASANT

6399dec

goooooooooooooooooose added 6 commits

November 13, 2025 19:50


          fixed space

07dad17


          docu docu

d990e3d


          giving myself credit

ff75776


          giving myself credit 2.0

7f295c0


          forgot docu here

d5e15ff


          why 2 names that are the same?!

65dd37f

Yoel-Perman-Brilliant requested changes

View reviewed changes

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/TurnToDegree.java Outdated Show resolved Hide resolved

goooooooooooooooooose added 11 commits

November 20, 2025 15:31


          spacy

2993fae


          added halves

05c1136


          bette description

2f87fd9


          bette description

36e2f19


          docu

58b73be


          docu

928d5b0


          useVelocityPID

8bb566d


          get not set

6aecfb6


          fixed TurnToDegree.java

78d1f6d


          changed name

182ec6e


          forgot stop func, ops

3d47272

Yoel-Perman-Brilliant requested changes

View reviewed changes

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/DriveSwerve.java Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/TurnModules.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/TurnModules.java Outdated Show resolved Hide resolved

goooooooooooooooooose added 5 commits

December 2, 2025 11:04


          weird docu fix

0b34981


          weird docu fix

1ef3b9a


          added resets field relative

f392fd5


          public and protect

287b627


          fixed problem

27ae22e

Yoel-Perman-Brilliant requested changes

View reviewed changes

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java

+                   * @param maxPossibleVelocity       the maximum possible velocity of the drive motors
+                   */
+                  public SwerveDrivetrain(String namespaceName, SwerveModule frontLeftModule, SwerveModule frontRightModule,
+                                          SwerveModule backLeftModule, SwerveModule backRightModule, double halfDrivetrainTrackWidth,

Member

Yoel-Perman-Brilliant Dec 8, 2025

giving half of a value as a parameter is clunky imo. it's not horrible, but i think you should change it

Contributor Author

goooooooooooooooooose Dec 8, 2025

i have no need for the full parameters, besides this allows me to write the position formula in a much nicer way

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java

+                   * @param halfDrivetrainTrackLength half the length of the drivetrain
+                   * @param maxPossibleVelocity       the maximum possible velocity of the drive motors
+                   */
+                  public SwerveDrivetrain(SwerveModule frontLeftModule, SwerveModule frontRightModule, SwerveModule backLeftModule,

Member

Yoel-Perman-Brilliant Dec 8, 2025

ditto

Contributor Author

goooooooooooooooooose Dec 8, 2025

ditto

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java

+                  /**
+                   * Resets the field relativity to be the same as the robot relativity.
+                   */
+                  public abstract void resetFieldRelative();

Member

Yoel-Perman-Brilliant Dec 8, 2025

In order to help both generality and simplicity for the user, I suggest creating an abstract method called resetGyro(), making this method non-abstract and having it call resetGyro()

Contributor Author

goooooooooooooooooose Dec 8, 2025

but the whole point of this library is that fit's anything. if i knew i had a gyro this whole library would have been so much easier to write, but since i made this library general and non specific my functions are non specific as well and allow the user to use whichever sensor and method they would like

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/SwerveDrivetrain.java Outdated Show resolved Hide resolved

src/main/java/com/spikes2212/command/drivetrains/swerve/commands/TurnModules.java Outdated Show resolved Hide resolved

goooooooooooooooooose added 5 commits

December 8, 2025 15:29


          removed reset relative encoders

fc29896


          changed to simpler name

d22d7ff


          fixed docu

349af62


          better names

5a3b216


          capital letters

f8a774a

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