Add NT offsets

Robot/.gitignore

@@ -0,0 +1,5 @@
+hs_err_pid*
+simgui.json
+simgui-window.json
+networktables.json
+networktables.json.bak

Robot/src/main/java/com/swrobotics/robot/NTData.java

@@ -1,11 +1,17 @@
 package com.swrobotics.robot;
 
+import com.swrobotics.lib.net.NTDouble;
+import com.swrobotics.lib.net.NTEntry;
+
 /**
  * Class to store all tunable NetworkTables values in one place, to make it easier to hardcode the
  * defaults in case of data loss.
  *
  * <p>Temporary values should not be here, this class is only for persistent data.
  */
 public final class NTData {
-    // TODO: Put NetworkTables data here
+    public static final NTEntry<Double> FL_OFFSET = new NTDouble("Swerve/Modules/Front Left Offset", 0).setPersistent();
+    public static final NTEntry<Double> FR_OFFSET = new NTDouble("Swerve/Modules/Front Right Offset", 0).setPersistent();
+    public static final NTEntry<Double> BL_OFFSET = new NTDouble("Swerve/Modules/Back Left Offset", 0).setPersistent();
+    public static final NTEntry<Double> BR_OFFSET = new NTDouble("Swerve/Modules/Back Right Offset", 0).setPersistent();
 }

Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveDrive.java

@@ -2,6 +2,8 @@
 
 import com.kauailabs.navx.frc.AHRS;
 import com.swrobotics.lib.field.FieldInfo;
+import com.swrobotics.robot.NTData;
+import com.swrobotics.robot.config.CANAllocation;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -17,10 +19,10 @@
 public final class SwerveDrive extends SubsystemBase {
     private static final double HALF_SPACING = Units.inchesToMeters(20); // FIXME
     private static final SimSwerveModule.Info[] INFOS = {
-            new SwerveModule.Info(9, 5, 1, HALF_SPACING, HALF_SPACING, "Front Left"),
-            new SwerveModule.Info(10, 6, 2, HALF_SPACING, -HALF_SPACING, "Front Right"),
-            new SwerveModule.Info(11, 7, 3, -HALF_SPACING, HALF_SPACING, "Back Left"),
-            new SwerveModule.Info(12, 8, 4, -HALF_SPACING, -HALF_SPACING, "Back Right")
+            new SwerveModule.Info(CANAllocation.SWERVE_FL, HALF_SPACING, HALF_SPACING, NTData.FL_OFFSET),
+            new SwerveModule.Info(CANAllocation.SWERVE_FR, HALF_SPACING, -HALF_SPACING, NTData.FR_OFFSET),
+            new SwerveModule.Info(CANAllocation.SWERVE_BL, -HALF_SPACING, HALF_SPACING, NTData.BL_OFFSET),
+            new SwerveModule.Info(CANAllocation.SWERVE_BR, -HALF_SPACING, -HALF_SPACING, NTData.BR_OFFSET)
     };
 
     private final AHRS gyro;
@@ -48,6 +50,7 @@ public SwerveDrive(FieldInfo fieldInfo) {
         prevPositions = null;
     }
 
+    // TODO: Better way of selecting between manual/auto input
     public void drive(ChassisSpeeds robotRelSpeeds) {
         SwerveModuleState[] targetStates = kinematics.getStates(robotRelSpeeds);
         SwerveModulePosition[] positions = new SwerveModulePosition[modules.length];

Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveModule.java

@@ -2,6 +2,7 @@
 
 import com.swrobotics.lib.net.NTDouble;
 import com.swrobotics.lib.net.NTEntry;
+import com.swrobotics.robot.config.CANAllocation;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
@@ -12,10 +13,10 @@ record Info(
             int driveId, int turnId, int encoderId,
             Translation2d position,
             NTEntry<Double> offset) {
-        public Info(int driveId, int turnId, int encoderId, double x, double y, String name) {
-            this(driveId, turnId, encoderId,
+        public Info(CANAllocation.SwerveIDs ids, double x, double y, NTEntry<Double> offset) {
+            this(ids.drive, ids.turn, ids.encoder,
                     new Translation2d(x, y),
-                    new NTDouble("Swerve/Modules/" + name + " Offset", 0).setPersistent());
+                    offset);
         }
     }