refactor: Rename setSetpoint to runSetpoint.

Gongoliers · Feb 8, 2024 · 35f7e21 · 35f7e21
1 parent a9afb6f
commit 35f7e21
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Showing 16 changed files with 27 additions and 27 deletions.
diff --git a/src/main/java/frc/robot/arm/ElbowMotorIO.java b/src/main/java/frc/robot/arm/ElbowMotorIO.java
@@ -29,11 +29,11 @@ public static class ElbowMotorIOValues {
   public void setPosition(double positionRotations);
 
   /**
-   * Sets the elbow motor's setpoint.
+   * Runs the elbow motor's setpoint.
    *
    * @param positionRotations the elbow motor's setpoint.
    */
-  public void setSetpoint(double positionRotations);
+  public void runSetpoint(double positionRotations);
 
   // TODO Remove, only for characterization
   /**

diff --git a/src/main/java/frc/robot/arm/ElbowMotorIOSparkMax.java b/src/main/java/frc/robot/arm/ElbowMotorIOSparkMax.java
@@ -47,7 +47,7 @@ public void setPosition(double positionRotations) {
   }
 
   @Override
-  public void setSetpoint(double positionRotations) {
+  public void runSetpoint(double positionRotations) {
     double measuredPositionRotations = getPositionRotations();
 
     double feedbackVolts = feedback.calculate(positionRotations, measuredPositionRotations);

diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIO.java b/src/main/java/frc/robot/arm/ShoulderMotorIO.java
@@ -30,11 +30,11 @@ public static class ShoulderMotorIOValues {
   public void setPosition(double positionRotations);
 
   /**
-   * Sets the shoulder motor's setpoint.
+   * Runs the shoulder motor's setpoint.
    *
    * @param positionRotations the shoulder motor's setpoint.
    */
-  public void setSetpoint(double positionRotations);
+  public void runSetpoint(double positionRotations);
 
   // TODO Remove, only for characterization
   /**

diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java b/src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java
@@ -47,7 +47,7 @@ public void setPosition(double positionRotations) {
   }
 
   @Override
-  public void setSetpoint(double positionRotations) {
+  public void runSetpoint(double positionRotations) {
     double measuredPositionRotations = getPositionRotations();
 
     double feedbackVolts = feedback.calculate(positionRotations, measuredPositionRotations);

diff --git a/src/main/java/frc/robot/swerve/DriveMotorIO.java b/src/main/java/frc/robot/swerve/DriveMotorIO.java
@@ -30,11 +30,11 @@ public static class DriveMotorIOValues {
   public void setPosition(double positionMeters);
 
   /**
-   * Sets the drive motor's setpoint.
+   * Runs the drive motor's setpoint.
    *
    * @param velocityMetersPerSecond the drive motor's setpoint.
    */
-  public void setSetpoint(double velocityMetersPerSecond);
+  public void runSetpoint(double velocityMetersPerSecond);
 
   /**
    * Sets the drive motor's brake mode.

diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOSim.java b/src/main/java/frc/robot/swerve/DriveMotorIOSim.java
@@ -28,7 +28,7 @@ public void setPosition(double positionMeters) {
   }
 
   @Override
-  public void setSetpoint(double velocityMetersPerSecond) {
+  public void runSetpoint(double velocityMetersPerSecond) {
     this.velocityMetersPerSecond = velocityMetersPerSecond;
   }
 

diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFX.java
@@ -64,7 +64,7 @@ public void setPosition(double positionMeters) {
   }
 
   @Override
-  public abstract void setSetpoint(double velocityMetersPerSecond);
+  public abstract void runSetpoint(double velocityMetersPerSecond);
 
   @Override
   public void setBrake(boolean brake) {

diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java
@@ -36,7 +36,7 @@ public void configure() {
   }
 
   @Override
-  public void setSetpoint(double velocityMetersPerSecond) {
+  public void runSetpoint(double velocityMetersPerSecond) {
     if (velocityMetersPerSecond == 0.0) {
       talonFX.setControl(new CoastOut());
     } else {

diff --git a/src/main/java/frc/robot/swerve/SteerMotorIO.java b/src/main/java/frc/robot/swerve/SteerMotorIO.java
@@ -30,9 +30,9 @@ public static class SteerMotorIOValues {
   public void setPosition(double positionRotations);
 
   /**
-   * Sets the steer motor's setpoint.
+   * Runs the steer motor's setpoint.
    *
    * @param positionRotations the steer motor's setpoint.
    */
-  public void setSetpoint(double positionRotations);
+  public void runSetpoint(double positionRotations);
 }
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOSim.java b/src/main/java/frc/robot/swerve/SteerMotorIOSim.java
@@ -55,7 +55,7 @@ public void setPosition(double positionRotations) {
   }
 
   @Override
-  public void setSetpoint(double positionRotations) {
+  public void runSetpoint(double positionRotations) {
     double voltage =
         pidf.calculate(
             Rotation2d.fromRotations(this.positionRotations),

diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFX.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFX.java
@@ -67,5 +67,5 @@ public void setPosition(double positionRotations) {
   }
 
   @Override
-  public abstract void setSetpoint(double positionRotations);
+  public abstract void runSetpoint(double positionRotations);
 }
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXIntegrated.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXIntegrated.java
@@ -37,7 +37,7 @@ public void configure() {
   }
 
   @Override
-  public void setSetpoint(double positionRotations) {
+  public void runSetpoint(double positionRotations) {
     talonFX.setControl(motionMagicVoltageSetter.withPosition(positionRotations));
   }
 }
diff --git a/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java b/src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java
@@ -40,7 +40,7 @@ public void configure() {
   }
 
   @Override
-  public void setSetpoint(double positionRotations) {
+  public void runSetpoint(double positionRotations) {
     if (pidf.atGoal()) {
       // TODO Doesn't work for some reason...
       // talonFX.setControl(new CoastOut());

diff --git a/src/main/java/frc/robot/swerve/Swerve.java b/src/main/java/frc/robot/swerve/Swerve.java
@@ -165,21 +165,21 @@ public ChassisSpeeds getChassisSpeeds() {
   public void setChassisSpeeds(ChassisSpeeds speeds) {
     SwerveModuleState[] setpoints = swerveKinematics.toSwerveModuleStates(speeds);
 
-    setSetpoints(setpoints, true);
+    runSetpoints(setpoints, true);
   }
 
   /**
-   * Set the setpoints for each of the swerve's modules.
+   * Runs each of the swerve modules' setpoints.
    *
    * @param setpoints the setpoints for each of the swerve's modules.
    * @param lazy if true, optimize the module setpoint.
    */
-  public void setSetpoints(SwerveModuleState[] setpoints, boolean lazy) {
+  public void runSetpoints(SwerveModuleState[] setpoints, boolean lazy) {
     SwerveDriveKinematics.desaturateWheelSpeeds(
         setpoints, SwerveConstants.MAXIMUM_ATTAINABLE_SPEED);
 
     for (int i = 0; i < 4; i++) {
-      swerveModules[i].setSetpoint(setpoints[i], lazy);
+      swerveModules[i].runSetpoint(setpoints[i], lazy);
     }
   }
 
@@ -192,7 +192,7 @@ public void setSetpoints(SwerveModuleState[] setpoints, boolean lazy) {
   public Command orientModules(Rotation2d[] orientations) {
     return run(
         () -> {
-          setSetpoints(
+          runSetpoints(
               new SwerveModuleState[] {
                 new SwerveModuleState(0.0, orientations[0]),
                 new SwerveModuleState(0.0, orientations[1]),

diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIO.java b/src/main/java/frc/robot/swerve/SwerveModuleIO.java
@@ -29,12 +29,12 @@ public interface SwerveModuleIO {
   public SwerveModuleState getSetpoint();
 
   /**
-   * Sets the swerve module setpoint.
+   * Runs the swerve module setpoint.
    *
    * @param setpoint the swerve module setpoint.
    * @param lazy if true, optimize the swerve module setpoint.
    */
-  public void setSetpoint(SwerveModuleState setpoint, boolean lazy);
+  public void runSetpoint(SwerveModuleState setpoint, boolean lazy);
 
   /**
    * Gets the position of the swerve module.

diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
@@ -75,13 +75,13 @@ public SwerveModuleState getSetpoint() {
   }
 
   @Override
-  public void setSetpoint(SwerveModuleState setpoint, boolean lazy) {
+  public void runSetpoint(SwerveModuleState setpoint, boolean lazy) {
     if (lazy) {
       setpoint = optimize(setpoint, getState());
     }
 
-    steerMotor.setSetpoint(setpoint.angle.getRotations());
-    driveMotor.setSetpoint(setpoint.speedMetersPerSecond);
+    steerMotor.runSetpoint(setpoint.angle.getRotations());
+    driveMotor.runSetpoint(setpoint.speedMetersPerSecond);
 
     this.setpoint = setpoint;
   }