Small fixes

frc-5160-the-chargers · Oct 16, 2024 · 83007db · 83007db
1 parent a4951fd
commit 83007db
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Showing 5 changed files with 15 additions and 14 deletions.
diff --git a/src/main/kotlin/frc/chargers/framework/HorseLog.kt b/src/main/kotlin/frc/chargers/framework/HorseLog.kt
@@ -19,13 +19,13 @@ import elastic.Elastic.ElasticNotification.NotificationLevel
  * import frc.chargers.framework.HorseLog.logError
  * import frc.chargers.framework.HorseLog // alternative
  *
- * log("Angle", 30.degrees) // will log as "Angle(SI Value)", 0.68(value in radians)
+ * log("AngleValue", 30.degrees) // will log as "AngleValue, 0.68"(value in radians)
  * logError("Title", "Description")
  * logNullableDouble("Hello", null)
  * HorseLog.log("Angle", 30.degrees) // also valid
  */
 @Suppress("unused")
-object HorseLog { // inheritance doesnt do anything other than allowing for logQueuer access, as static inheritance doesnt exist in kotlin
+object HorseLog {
     /* Ported from DogLog */
     fun log(key: String, value: Long) = DogLog.log(key, value)
     fun log(key: String, value: Double) = DogLog.log(key, value)
@@ -107,7 +107,7 @@ object HorseLog { // inheritance doesnt do anything other than allowing for logQ
     }
 
     fun log(key: String, value: Int) = DogLog.log(key, value.toLong())
-    @JvmName("Log0") fun log(key: String, value: Quantity<*>) = DogLog.log("$key(SI Value)", value.siValue)
+    @JvmName("Log0") fun log(key: String, value: Quantity<*>) = DogLog.log(key, value.siValue)
 
     fun logNullableInt(key: String, value: Int?) = logNullableImpl(key, value, ::log)
     fun logNullableDouble(key: String, value: Double?) = logNullableImpl(key, value, ::log)

diff --git a/src/main/kotlin/frc/chargers/framework/Tunable.kt b/src/main/kotlin/frc/chargers/framework/Tunable.kt
@@ -7,7 +7,7 @@ import com.batterystaple.kmeasure.quantities.inUnit
 import com.batterystaple.kmeasure.quantities.ofUnit
 import com.pathplanner.lib.util.PIDConstants
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
-import edu.wpi.first.wpilibj2.command.InstantCommand
+import kcommand.InstantCommand
 import edu.wpi.first.wpilibj2.command.WaitCommand
 import edu.wpi.first.wpilibj2.command.button.Trigger
 import kotlin.reflect.KProperty
@@ -71,14 +71,14 @@ class Tunable<T>(
         }
         // waits to put the value to the dashboard so that SmartDashboard can initialize
         WaitCommand(0.1)
-            .andThen(InstantCommand({ put(path, current) }))
+            .andThen(InstantCommand { put(path, current) })
             .ignoringDisable(true)
             .schedule()
         Trigger { tuningMode && get(path, current) != current }
-            .whileTrue(InstantCommand({
+            .onTrue(InstantCommand {
                 current = get(path, current)
                 onChangeRunnables.forEach{ it(current) }
-            }))
+            }.ignoringDisable(true))
         return this
     }
     operator fun getValue(thisRef: Any?, property: KProperty<*>): T = current

diff --git a/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveModule.kt b/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveModule.kt
@@ -66,9 +66,8 @@ class SwerveModule(
                 couplingOffset -= constants.couplingRatio * (direction - 180.degrees)
                 log("CouplingOffset", couplingOffset)
             }
-            if (turnEncoder != null) log("$name/absolutePosition", turnEncoder.angularPosition)
+            if (turnEncoder != null) log("$name/AbsoluteEncoderReading", turnEncoder.angularPosition)
             log("$name/Direction", direction)
-            log("$name/AbsoluteEncoderReading", turnEncoder?.angularPosition ?: 0.degrees)
             log("$name/DriveLinearVelocity", driveLinearVelocity)
             log("$name/WheelTravel", wheelTravel)
             log("$name/TurnMotorCurrent", turnMotor.statorCurrent)

diff --git a/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt b/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt
@@ -25,7 +25,6 @@ import kcommand.setDefaultRunCommand
 import frc.chargers.framework.ChargerRobot
 import frc.chargers.framework.HorseLog
 import frc.chargers.framework.Tunable
-import frc.chargers.framework.tunable
 import frc.chargers.hardware.sensors.imu.ChargerNavX
 import frc.chargers.utils.squareMagnitude
 import frc.chargers.wpilibextensions.distanceTo
@@ -56,8 +55,6 @@ class CompetitionRobot: ChargerRobot() {
 
     private val autoChooser = SendableChooser<Command>()
 
-    val testTunable by tunable(2.0, "SomeValue").onChange { println("Hi!") }
-
     init {
         DriverStation.silenceJoystickConnectionWarning(true)
         PortForwarder.add(5800, "photonvision.local", 5800)

diff --git a/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt b/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt
@@ -70,8 +70,13 @@ class Pivot(disable: Boolean = false): SubsystemBase() {
             positionPID = PIDConstants(7.0,0.0,0.001)
         )
         Trigger(DriverStation::isDisabled)
-            .onTrue(InstantCommand { setIdle(); motor.configure(brakeWhenIdle = false) })
-            .onFalse(InstantCommand { motor.configure(brakeWhenIdle = true) })
+            .onTrue(InstantCommand {
+                setIdle()
+                motor.configure(brakeWhenIdle = false)
+            }.ignoringDisable(true))
+            .onFalse(InstantCommand {
+                motor.configure(brakeWhenIdle = true)
+            }.ignoringDisable(true))
     }
 
     private val motionProfile: AngularMotionProfile? = AngularTrapezoidProfile(