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Reduce GC pressure a bit through Rotation2d.kZero #138

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Reduce GC pressure a bit through Rotation2d.kZero #138

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4 changes: 2 additions & 2 deletions template_projects/diff_drive/src/main/java/frc/robot/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@ public class Drive extends SubsystemBase {
private final double kS = Constants.currentMode == Mode.SIM ? simKs : realKs;
private final double kV = Constants.currentMode == Mode.SIM ? simKv : realKv;
private final DifferentialDrivePoseEstimator poseEstimator =
new DifferentialDrivePoseEstimator(kinematics, new Rotation2d(), 0.0, 0.0, new Pose2d());
new DifferentialDrivePoseEstimator(kinematics, Rotation2d.kZero, 0.0, 0.0, new Pose2d());
private final SysIdRoutine sysId;
private Rotation2d rawGyroRotation = new Rotation2d();
private Rotation2d rawGyroRotation = Rotation2d.kZero;
private double lastLeftPositionMeters = 0.0;
private double lastRightPositionMeters = 0.0;

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2 changes: 1 addition & 1 deletion template_projects/diff_drive/src/main/java/frc/robot/subsystems/drive/GyroIO.java
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Expand Up @@ -20,7 +20,7 @@ public interface GyroIO {
@AutoLog
public static class GyroIOInputs {
public boolean connected = false;
public Rotation2d yawPosition = new Rotation2d();
public Rotation2d yawPosition = Rotation2d.kZero;
public double yawVelocityRadPerSec = 0.0;
}

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4 changes: 2 additions & 2 deletions template_projects/kitbot_2024/src/main/java/frc/robot/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@ public class Drive extends SubsystemBase {
private final double kS = Constants.currentMode == Mode.SIM ? simKs : realKs;
private final double kV = Constants.currentMode == Mode.SIM ? simKv : realKv;
private final DifferentialDrivePoseEstimator poseEstimator =
new DifferentialDrivePoseEstimator(kinematics, new Rotation2d(), 0.0, 0.0, new Pose2d());
new DifferentialDrivePoseEstimator(kinematics, Rotation2d.kZero, 0.0, 0.0, new Pose2d());
private final SysIdRoutine sysId;
private Rotation2d rawGyroRotation = new Rotation2d();
private Rotation2d rawGyroRotation = Rotation2d.kZero;
private double lastLeftPositionMeters = 0.0;
private double lastRightPositionMeters = 0.0;

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2 changes: 1 addition & 1 deletion template_projects/kitbot_2024/src/main/java/frc/robot/subsystems/drive/GyroIO.java
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Expand Up @@ -20,7 +20,7 @@ public interface GyroIO {
@AutoLog
public static class GyroIOInputs {
public boolean connected = false;
public Rotation2d yawPosition = new Rotation2d();
public Rotation2d yawPosition = Rotation2d.kZero;
public double yawVelocityRadPerSec = 0.0;
}

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4 changes: 2 additions & 2 deletions template_projects/spark_swerve/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -130,7 +130,7 @@ private void configureButtonBindings() {
drive,
() -> -controller.getLeftY(),
() -> -controller.getLeftX(),
() -> new Rotation2d()));
() -> Rotation2d.kZero));

// Switch to X pattern when X button is pressed
controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
Expand All @@ -142,7 +142,7 @@ private void configureButtonBindings() {
Commands.runOnce(
() ->
drive.setPose(
new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
new Pose2d(drive.getPose().getTranslation(), Rotation2d.kZero)),
drive)
.ignoringDisable(true));
}
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4 changes: 2 additions & 2 deletions template_projects/spark_swerve/src/main/java/frc/robot/commands/DriveCommands.java
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Expand Up @@ -60,7 +60,7 @@ private static Translation2d getLinearVelocityFromJoysticks(double x, double y)

// Return new linear velocity
return new Pose2d(new Translation2d(), linearDirection)
.transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d()))
.transformBy(new Transform2d(linearMagnitude, 0.0, Rotation2d.kZero))
.getTranslation();
}

Expand Down Expand Up @@ -292,7 +292,7 @@ public static Command wheelRadiusCharacterization(Drive drive) {

private static class WheelRadiusCharacterizationState {
double[] positions = new double[4];
Rotation2d lastAngle = new Rotation2d();
Rotation2d lastAngle = Rotation2d.kZero;
double gyroDelta = 0.0;
}
}
2 changes: 1 addition & 1 deletion template_projects/spark_swerve/src/main/java/frc/robot/subsystems/drive/Drive.java
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Expand Up @@ -60,7 +60,7 @@ public class Drive extends SubsystemBase {
new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError);

private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(moduleTranslations);
private Rotation2d rawGyroRotation = new Rotation2d();
private Rotation2d rawGyroRotation = Rotation2d.kZero;
private SwerveModulePosition[] lastModulePositions = // For delta tracking
new SwerveModulePosition[] {
new SwerveModulePosition(),
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2 changes: 1 addition & 1 deletion template_projects/spark_swerve/src/main/java/frc/robot/subsystems/drive/GyroIO.java
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Expand Up @@ -20,7 +20,7 @@ public interface GyroIO {
@AutoLog
public static class GyroIOInputs {
public boolean connected = false;
public Rotation2d yawPosition = new Rotation2d();
public Rotation2d yawPosition = Rotation2d.kZero;
public double yawVelocityRadPerSec = 0.0;
public double[] odometryYawTimestamps = new double[] {};
public Rotation2d[] odometryYawPositions = new Rotation2d[] {};
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2 changes: 1 addition & 1 deletion template_projects/spark_swerve/src/main/java/frc/robot/subsystems/drive/Module.java
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Expand Up @@ -75,7 +75,7 @@ public void runSetpoint(SwerveModuleState state) {
/** Runs the module with the specified output while controlling to zero degrees. */
public void runCharacterization(double output) {
io.setDriveOpenLoop(output);
io.setTurnPosition(new Rotation2d());
io.setTurnPosition(Rotation2d.kZero);
}

/** Disables all outputs to motors. */
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2 changes: 1 addition & 1 deletion template_projects/spark_swerve/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
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Expand Up @@ -26,7 +26,7 @@ public static class ModuleIOInputs {
public double driveCurrentAmps = 0.0;

public boolean turnConnected = false;
public Rotation2d turnPosition = new Rotation2d();
public Rotation2d turnPosition = Rotation2d.kZero;
public double turnVelocityRadPerSec = 0.0;
public double turnAppliedVolts = 0.0;
public double turnCurrentAmps = 0.0;
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2 changes: 1 addition & 1 deletion template_projects/spark_swerve/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
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Expand Up @@ -70,7 +70,7 @@ public ModuleIOSpark(int module) {
case 1 -> frontRightZeroRotation;
case 2 -> backLeftZeroRotation;
case 3 -> backRightZeroRotation;
default -> new Rotation2d();
default -> Rotation2d.kZero;
};
driveSpark =
new SparkFlex(
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4 changes: 2 additions & 2 deletions template_projects/talonfx_swerve/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -131,7 +131,7 @@ private void configureButtonBindings() {
drive,
() -> -controller.getLeftY(),
() -> -controller.getLeftX(),
() -> new Rotation2d()));
() -> Rotation2d.kZero));

// Switch to X pattern when X button is pressed
controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
Expand All @@ -143,7 +143,7 @@ private void configureButtonBindings() {
Commands.runOnce(
() ->
drive.setPose(
new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
new Pose2d(drive.getPose().getTranslation(), Rotation2d.kZero)),
drive)
.ignoringDisable(true));
}
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4 changes: 2 additions & 2 deletions template_projects/talonfx_swerve/src/main/java/frc/robot/commands/DriveCommands.java
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Expand Up @@ -59,7 +59,7 @@ private static Translation2d getLinearVelocityFromJoysticks(double x, double y)

// Return new linear velocity
return new Pose2d(new Translation2d(), linearDirection)
.transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d()))
.transformBy(new Transform2d(linearMagnitude, 0.0, Rotation2d.kZero))
.getTranslation();
}

Expand Down Expand Up @@ -290,7 +290,7 @@ public static Command wheelRadiusCharacterization(Drive drive) {

private static class WheelRadiusCharacterizationState {
double[] positions = new double[4];
Rotation2d lastAngle = new Rotation2d();
Rotation2d lastAngle = Rotation2d.kZero;
double gyroDelta = 0.0;
}
}
2 changes: 1 addition & 1 deletion template_projects/talonfx_swerve/src/main/java/frc/robot/subsystems/drive/Drive.java
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Expand Up @@ -95,7 +95,7 @@ public class Drive extends SubsystemBase {
new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError);

private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());
private Rotation2d rawGyroRotation = new Rotation2d();
private Rotation2d rawGyroRotation = Rotation2d.kZero;
private SwerveModulePosition[] lastModulePositions = // For delta tracking
new SwerveModulePosition[] {
new SwerveModulePosition(),
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2 changes: 1 addition & 1 deletion template_projects/talonfx_swerve/src/main/java/frc/robot/subsystems/drive/GyroIO.java
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Expand Up @@ -20,7 +20,7 @@ public interface GyroIO {
@AutoLog
public static class GyroIOInputs {
public boolean connected = false;
public Rotation2d yawPosition = new Rotation2d();
public Rotation2d yawPosition = Rotation2d.kZero;
public double yawVelocityRadPerSec = 0.0;
public double[] odometryYawTimestamps = new double[] {};
public Rotation2d[] odometryYawPositions = new Rotation2d[] {};
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2 changes: 1 addition & 1 deletion template_projects/talonfx_swerve/src/main/java/frc/robot/subsystems/drive/Module.java
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Expand Up @@ -83,7 +83,7 @@ public void runSetpoint(SwerveModuleState state) {
/** Runs the module with the specified output while controlling to zero degrees. */
public void runCharacterization(double output) {
io.setDriveOpenLoop(output);
io.setTurnPosition(new Rotation2d());
io.setTurnPosition(Rotation2d.kZero);
}

/** Disables all outputs to motors. */
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4 changes: 2 additions & 2 deletions template_projects/talonfx_swerve/src/main/java/frc/robot/subsystems/drive/ModuleIO.java
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Expand Up @@ -27,8 +27,8 @@ public static class ModuleIOInputs {

public boolean turnConnected = false;
public boolean turnEncoderConnected = false;
public Rotation2d turnAbsolutePosition = new Rotation2d();
public Rotation2d turnPosition = new Rotation2d();
public Rotation2d turnAbsolutePosition = Rotation2d.kZero;
public Rotation2d turnPosition = Rotation2d.kZero;
public double turnVelocityRadPerSec = 0.0;
public double turnAppliedVolts = 0.0;
public double turnCurrentAmps = 0.0;
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2 changes: 1 addition & 1 deletion template_projects/vision/src/main/java/frc/robot/subsystems/drive/DemoDrive.java
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Expand Up @@ -44,7 +44,7 @@ public class DemoDrive extends SubsystemBase {
private final DifferentialDrivePoseEstimator poseEstimator =
new DifferentialDrivePoseEstimator(
new DifferentialDriveKinematics(Units.inchesToMeters(26)),
new Rotation2d(),
Rotation2d.kZero,
0.0,
0.0,
new Pose2d());
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2 changes: 1 addition & 1 deletion template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIO.java
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Expand Up @@ -22,7 +22,7 @@ public interface VisionIO {
public static class VisionIOInputs {
public boolean connected = false;
public TargetObservation latestTargetObservation =
new TargetObservation(new Rotation2d(), new Rotation2d());
new TargetObservation(Rotation2d.kZero, Rotation2d.kZero);
public PoseObservation[] poseObservations = new PoseObservation[0];
public int[] tagIds = new int[0];
}
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2 changes: 1 addition & 1 deletion template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
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Expand Up @@ -53,7 +53,7 @@ public void updateInputs(VisionIOInputs inputs) {
Rotation2d.fromDegrees(result.getBestTarget().getYaw()),
Rotation2d.fromDegrees(result.getBestTarget().getPitch()));
} else {
inputs.latestTargetObservation = new TargetObservation(new Rotation2d(), new Rotation2d());
inputs.latestTargetObservation = new TargetObservation(Rotation2d.kZero, Rotation2d.kZero);
}

// Add pose observation
Expand Down