linting

Frc5572 · Jan 27, 2024 · 29a8090 · 29a8090
1 parent 4da8153
commit 29a8090
Show file tree

Hide file tree

Showing 5 changed files with 15 additions and 7 deletions.
diff --git a/src/main/java/frc/lib/math/Conversions.java b/src/main/java/frc/lib/math/Conversions.java
@@ -10,7 +10,7 @@ public class Conversions {
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Velocity: (in Meters per Second)
      */
-    public static double RPSToMPS(double wheelRPS, double circumference) {
+    public static double rotationPerSecondToMetersPerSecond(double wheelRPS, double circumference) {
         double wheelMPS = wheelRPS * circumference;
         return wheelMPS;
     }
@@ -20,7 +20,7 @@ public static double RPSToMPS(double wheelRPS, double circumference) {
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Velocity: (in Rotations per Second)
      */
-    public static double MPSToRPS(double wheelMPS, double circumference) {
+    public static double metersPerSecondToRotationPerSecond(double wheelMPS, double circumference) {
         double wheelRPS = wheelMPS / circumference;
         return wheelRPS;
     }

diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -11,7 +11,9 @@
 import frc.lib.math.Conversions;
 import frc.robot.Constants;
 
-
+/**
+ * Swerve Module Subsystem
+ */
 public class SwerveModule {
     public int moduleNumber;
     private Rotation2d angleOffset;
@@ -82,8 +84,8 @@ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) {
             io.setDriveMotor(driveDutyCycle);
             inputs.driveMotorSelectedSensorVelocity = driveDutyCycle.Output;
         } else {
-            driveVelocity.Velocity = Conversions.MPSToRPS(desiredState.speedMetersPerSecond,
-                Constants.Swerve.wheelCircumference);
+            driveVelocity.Velocity = Conversions.metersPerSecondToRotationPerSecond(
+                desiredState.speedMetersPerSecond, Constants.Swerve.wheelCircumference);
             driveVelocity.FeedForward =
                 driveFeedForward.calculate(desiredState.speedMetersPerSecond);
             io.setDriveMotor(driveVelocity);
@@ -116,7 +118,7 @@ public void resetToAbsolute() {
      */
     public SwerveModuleState getState() {
         return new SwerveModuleState(
-            Conversions.RPSToMPS(inputs.driveMotorSelectedSensorVelocity,
+            Conversions.rotationPerSecondToMetersPerSecond(inputs.driveMotorSelectedSensorVelocity,
                 Constants.Swerve.wheelCircumference),
             Rotation2d.fromRotations(inputs.angleMotorSelectedPosition));
     }

diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java b/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java
@@ -8,6 +8,9 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.robot.Constants;
 
+/**
+ * Swerve Module IO
+ */
 public class SwerveModuleReal implements SwerveModuleIO {
 
     private TalonFX mAngleMotor;
@@ -17,6 +20,7 @@ public class SwerveModuleReal implements SwerveModuleIO {
     private TalonFXConfiguration swerveDriveFXConfig = new TalonFXConfiguration();
     private CANcoderConfiguration swerveCANcoderConfig = new CANcoderConfiguration();
 
+    /** Instantiating motors and Encoders */
     public SwerveModuleReal(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID,
         Rotation2d angleOffset) {
 

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -175,7 +175,7 @@ public static final class Mod3 {
                 // Drive base radius (distance from center to furthest module)
                 maxSpeed, MOD0_MODOFFSET.getNorm(), new ReplanningConfig());
     }
-
+    /** Auto constants */
     public static final class AutoConstants {
         public static final double kMaxSpeedMetersPerSecond = 3;
         public static final double kMaxAccelerationMetersPerSecondSquared = 3;
@@ -223,6 +223,7 @@ public static final class ElevatorWristConstants {
     /**
      * Pneumatics CAN id constants.
      */
+
     public static final class Pneumatics {
     }
 

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveIO.java b/src/main/java/frc/robot/subsystems/swerve/SwerveIO.java
@@ -17,6 +17,7 @@ public static class SwerveInputs {
 
     public default void updateInputs(SwerveInputs inputs) {}
 
+    /** Instantiating SwerveModules */
     public default SwerveModule createSwerveModule(int moduleNumber, int driveMotorID,
         int angleMotorID, int cancoderID, Rotation2d angleOffset) {
         return new SwerveModule(moduleNumber, driveMotorID, angleMotorID, cancoderID, angleOffset,