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RoboLib
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Improved Swerve Builder

This commit is contained in:
Tyler Wilcox 2025-12-06 10:46:42 -05:00
parent 5270012b74
commit 9b7572f22e
1 changed files with 6 additions and 6 deletions
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12
lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveBuilder.java
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@ -7,6 +7,7 @@ import edu.wpi.first.math.geometry.Translation2d;
public class SwerveBuilder { public class SwerveBuilder {
ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>(); ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>();
String canBusName = "";
private int pigeonId; private int pigeonId;
@ -19,6 +20,11 @@ public class SwerveBuilder {
return this; return this;
} }
public SwerveBuilder withCanbusName(String canBusname){
this.canBusName = canBusname;
return this;
}
public SwerveBuilder withSwerveModule(SwerveModule module){ public SwerveBuilder withSwerveModule(SwerveModule module){
this.modules.add(module); this.modules.add(module);
return this; return this;
@ -40,7 +46,6 @@ public class SwerveBuilder {
private double steerKD; private double steerKD;
private int steerEncoderId; private int steerEncoderId;
private double steerOffset; private double steerOffset;
private String canBusName;
private Translation2d moduleLocation; private Translation2d moduleLocation;
private double gearRatio; private double gearRatio;
private double wheelDiameterInMeters; private double wheelDiameterInMeters;
@ -94,11 +99,6 @@ public class SwerveBuilder {
return this; return this;
} }
public SwerveModuleBuilder withCanBusName(String canBusName){
this.canBusName = canBusName;
return this;
}
public SwerveModuleBuilder withModuleLocation(Translation2d moduleLocation){ public SwerveModuleBuilder withModuleLocation(Translation2d moduleLocation){
this.moduleLocation = moduleLocation; this.moduleLocation = moduleLocation;
return this; return this;