last bit of drive cleanup

Talon540Programming · Mar 16, 2024 · 6f6bb2a · 6f6bb2a
1 parent 027a819
commit 6f6bb2a
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Showing 2 changed files with 18 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveBase.java b/src/main/java/frc/robot/subsystems/drive/DriveBase.java
@@ -34,22 +34,6 @@ public class DriveBase extends SubsystemBase {
 
   private static final SwerveDriveKinematics m_kinematics;
 
-  private final GyroIO m_gyroIO;
-  private final GyroIOInputsAutoLogged m_gyroInputs = new GyroIOInputsAutoLogged();
-  private final Module[] m_modules = new Module[4]; // FL, FR, BL, BR
-  private final OdometryTimestampInputsAutoLogged m_odometryTimestampInputs =
-      new OdometryTimestampInputsAutoLogged();
-
-  private Rotation2d m_lastGyroRotation = new Rotation2d();
-
-  private final SwerveModulePosition[] m_lastModulePositions =
-      new SwerveModulePosition[] {
-        new SwerveModulePosition(),
-        new SwerveModulePosition(),
-        new SwerveModulePosition(),
-        new SwerveModulePosition()
-      };
-
   static {
     switch (Constants.getRobotType()) {
       case ROBOT_SIMBOT, ROBOT_2024_COMP -> {
@@ -75,6 +59,22 @@ public class DriveBase extends SubsystemBase {
         new SwerveDriveKinematics(getModuleTranslations(kTrackWidthXMeters, kTrackWidthYMeters));
   }
 
+  private final GyroIO m_gyroIO;
+  private final GyroIOInputsAutoLogged m_gyroInputs = new GyroIOInputsAutoLogged();
+  private final Module[] m_modules = new Module[4]; // FL, FR, BL, BR
+  private final OdometryTimestampInputsAutoLogged m_odometryTimestampInputs =
+      new OdometryTimestampInputsAutoLogged();
+
+  private Rotation2d m_lastGyroRotation = new Rotation2d();
+
+  private final SwerveModulePosition[] m_lastModulePositions =
+      new SwerveModulePosition[] {
+        new SwerveModulePosition(),
+        new SwerveModulePosition(),
+        new SwerveModulePosition(),
+        new SwerveModulePosition()
+      };
+
   public DriveBase(
       GyroIO gyroIO,
       ModuleIO frontLeftIO,

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -60,6 +60,8 @@ public class Module {
   public Module(int index, ModuleIO io) {
     moduleIndex = index;
     m_io = io;
+
+    setBrakeMode(true);
   }
 
   public void periodic() {