swerve #4

AdamEXu · 2026-01-16T01:38:27Z

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Copilot

Pull request overview

This pull request implements a swerve drive subsystem for an FRC robot, supporting two robot variants (ABOT with TalonFX motors and BBOT with Spark motors). It includes hardware abstraction layers, motor controller configurations, and teleop control, along with configuration updates for cameras, AprilTag detection, and pathfinding systems.

Changes:

Added swerve drive subsystem with support for dual robot variants using different motor controllers
Implemented hardware classes for TalonFX and Spark-based swerve modules with motor configurations
Updated TypeScript configuration files for cameras, AprilTag detection, LIDAR, and pathfinding
Added teleop command for joystick-controlled swerve driving with gyro-relative field orientation

Reviewed changes

Copilot reviewed 10 out of 13 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subystem/SwerveSubsystem.java	Main swerve subsystem managing four swerve modules with robot variant selection
src/main/java/frc/robot/hardware/WheelMoverTalonFX.java	TalonFX motor controller implementation for swerve modules
src/main/java/frc/robot/hardware/WheelMoverSpark.java	Spark motor controller implementation for swerve modules
src/main/java/frc/robot/hardware/WheelMoverBase.java	Base class providing common interface for swerve module implementations
src/main/java/frc/robot/constant/swerve/*.java	Swerve constants for both robot variants with motor ports, PID values, and geometry
src/main/java/frc/robot/constant/BotConstants.java	Robot variant and mode configuration
src/main/java/frc/robot/command/SwerveMoveTeleop.java	Teleop command for joystick control with deadbanding
src/main/java/frc/robot/RobotContainer.java	Robot container with swerve subsystem initialization and button bindings
src/config/*	Updated camera, AprilTag, LIDAR, and pathfinding configurations
build.gradle	Added configuration generation and Pi count constant
.gitignore	Added gradle-tmp directory to ignore list

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Copilot · 2026-01-16T01:42:55Z

src/main/java/frc/robot/hardware/WheelMoverTalonFX.java

+    Logger.recordOutput(base + "requestedMps", mpsSpeed.in(Units.MetersPerSecond));
+    Logger.recordOutput(base + "requestedAngle", requestedAngle.in(Units.Degrees));
+    Logger.recordOutput(base + "requestedDistance", distance.in(Units.Meters));


The logging is incorrect. Line 213 logs the actual speed (mpsSpeed from getSpeed()) as "requestedMps", but it should log the parameter requestedMps. Similarly, line 215 logs the actual distance as "requestedDistance", but this should be logging a requested value or have a more appropriate label like "actualDistance".

Suggested change

Logger.recordOutput(base + "requestedMps", mpsSpeed.in(Units.MetersPerSecond));

Logger.recordOutput(base + "requestedAngle", requestedAngle.in(Units.Degrees));

Logger.recordOutput(base + "requestedDistance", distance.in(Units.Meters));

Logger.recordOutput(base + "requestedMps", requestedMps.in(Units.MetersPerSecond));

Logger.recordOutput(base + "requestedAngle", requestedAngle.in(Units.Degrees));

Logger.recordOutput(base + "actualDistance", distance.in(Units.Meters));

Copilot · 2026-01-16T01:42:56Z

src/main/java/frc/robot/hardware/WheelMoverTalonFX.java

+
+    turnCANcoder = new CANcoder(CANCoderEncoderChannel);
+    CANcoderConfiguration config = new CANcoderConfiguration();
+    config.MagnetSensor.MagnetOffset = -CANCoderMagnetOffset;


There is an inconsistency in how the CANCoder magnet offset is applied. WheelMoverTalonFX negates the offset (line 55: -CANCoderMagnetOffset), while WheelMoverSpark does not negate it (line 94: magnetOffset). This could lead to incorrect encoder readings for one of the robot variants, causing the swerve modules to point in the wrong direction.

Suggested change

config.MagnetSensor.MagnetOffset = -CANCoderMagnetOffset;

config.MagnetSensor.MagnetOffset = CANCoderMagnetOffset;

Copilot · 2026-01-16T01:42:56Z

src/main/java/frc/robot/subystem/SwerveSubsystem.java

@@ -0,0 +1,259 @@
+package frc.robot.subystem;


The package name "subystem" is misspelled. It should be "subsystem" to follow standard Java naming conventions.

Suggested change

package frc.robot.subystem;

package frc.robot.subsystem;

Copilot · 2026-01-16T01:42:56Z

src/main/java/frc/robot/constant/swerve/SwerveConstantsSpark.java

+  public static final int kRearRightTurningMotorPort = 23;
+  public static final int kRearLeftTurningMotorPort = 22;
+
+  // whether the turning enoders are flipped


The word "enoders" is misspelled in the comment. It should be "encoders".

Suggested change

// whether the turning enoders are flipped

// whether the turning encoders are flipped

Copilot · 2026-01-16T01:42:57Z

src/main/java/frc/robot/constant/swerve/SwerveConstantsTalonFX.java

+  public static final int kRearLeftTurningMotorPort = 10;
+  public static final int kRearRightTurningMotorPort = 12;
+
+  // whether the turning enoders are flipped


The word "enoders" is misspelled in the comment. It should be "encoders".

Suggested change

// whether the turning enoders are flipped

// whether the turning encoders are flipped

Copilot · 2026-01-16T01:42:57Z

src/main/java/frc/robot/constant/swerve/SwerveConstants.java

+  public int kRearLeftTurningMotorPort;
+  public int kRearRightTurningMotorPort;
+
+  // whether the turning enoders are flipped


The word "enoders" is misspelled in the comment. It should be "encoders".

Suggested change

// whether the turning enoders are flipped

// whether the turning encoders are flipped

Copilot · 2026-01-16T01:42:58Z

src/main/java/frc/robot/hardware/WheelMoverTalonFX.java

+
+  private void logEverything(LinearVelocity requestedMps, Angle requestedAngle) {
+    String base = "Wheels/" + port + "/";
+    LinearVelocity mpsSpeed = getSpeed();
+    Angle newRotationRad = getAngle();
+    Distance distance = getDistance();
+
+    Logger.recordOutput(base + "requestedMps", mpsSpeed.in(Units.MetersPerSecond));
+    Logger.recordOutput(base + "requestedAngle", requestedAngle.in(Units.Degrees));
+    Logger.recordOutput(base + "requestedDistance", distance.in(Units.Meters));
+  }


The private method logEverything is defined but never called. WheelMoverSpark overrides the drive method to call logEverything, but WheelMoverTalonFX does not. Either override the drive method to call logEverything, or remove this unused method.

Suggested change

private void logEverything(LinearVelocity requestedMps, Angle requestedAngle) {

String base = "Wheels/" + port + "/";

LinearVelocity mpsSpeed = getSpeed();

Angle newRotationRad = getAngle();

Distance distance = getDistance();

Logger.recordOutput(base + "requestedMps", mpsSpeed.in(Units.MetersPerSecond));

Logger.recordOutput(base + "requestedAngle", requestedAngle.in(Units.Degrees));

Logger.recordOutput(base + "requestedDistance", distance.in(Units.Meters));

}

…tics/2026Rebuilt into adam/util-migration

AdamEXu · 2026-01-20T03:48:31Z

added a bunch of stuff

…tics/2026Rebuilt into adam/util-migration

swerve

b1e0d1a

Copilot AI review requested due to automatic review settings January 16, 2026 01:38

Copilot started reviewing on behalf of AdamEXu January 16, 2026 01:38 View session

Merge branch 'main' into adam/util-migration

c028e60

Copilot AI reviewed Jan 16, 2026

View reviewed changes

AdamEXu and others added 5 commits January 15, 2026 18:35

skibidi

30aef5a

Merge branch 'adam/util-migration' of https://github.com/PinewoodRobo…

f448ae9

…tics/2026Rebuilt into adam/util-migration

add visions and gloabl positionings

d126cec

add visions and gloabl positionings

94abc27

"add a bunch of stuff"

f756011

godbrigero and others added 19 commits January 19, 2026 23:58

add backend stuff

9cae986

Merge branch 'adam/util-migration' of https://github.com/PinewoodRobo…

e3a8c17

…tics/2026Rebuilt into adam/util-migration

remove rando issue

609fa42

try to fix not subscribing for some reason

3337eb2

clean up constants

688cc85

fix up build.gradle

ec75b65

add stuff

ffe2833

changed configs

7dcddf2

fix gradle 2

d27a02b

updat ebuild.gradle

a587b1d

remove unused + add fan cpu load thing

2434ddc

add replaying functionality to pose extrapolator

9556634

working pos extrapolator + update api

bd35dbf

bump thrift version

8c9af91

add lidar ball analysis tool thing

2512011

lidar ball vel pos extrapolation

c5c5203

rem deploy.py

f26ec90

bump num PIs and add config stuff

2bd4fbf

bump version

2924b6f

godbrigero added 17 commits January 23, 2026 17:38

bump vers

ecdbb0e

working global pose

58b62c4

add auton paths pathplanner

942cf72

add obj pos extrapolation with kf filters for each obj

e64975a

rework deployment process, working auto and descent global pose

0f1ff6c

first cleanup build.gradle

9606337

update build.gradle for more efficiency

f20011b

cleanup apply backend to be optional

aabd13e

fix version 66 pre

6ab4d8a

update the pi api for better code readability

3734d69

add weighting

c94825d

bump proto and thrift version

9c4c04f

rename applyBackend to deployBackend

ca4043f

l;atest

898926e

pathplanner tuning + kf filter fixes

ba67457

update stuff + remove sudo from compilation

99044ba

bump version

457ec97

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	config.MagnetSensor.MagnetOffset = -CANCoderMagnetOffset;
	config.MagnetSensor.MagnetOffset = CANCoderMagnetOffset;

	// whether the turning enoders are flipped
	// whether the turning encoders are flipped

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