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Improved readability of DRIVE_WHEEL_TYPE enum #14

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merged 2 commits into from
Nov 1, 2024
Merged

Improved readability of DRIVE_WHEEL_TYPE enum #14

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27c6d4b
Changed DRIVE_WHEEL_TYPE to have a grip field instead of switch case
KfirNeuman Oct 31, 2024
5646695
removed redundant get function
catr1xLiu Nov 1, 2024
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48 changes: 23 additions & 25 deletions project/src/main/java/org/ironmaple/simulation/drivesims/SwerveModuleSimulation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -630,16 +630,14 @@ public double getModuleMaxAccelerationMPSsq(double robotMass, int modulesCount)
/ robotMass;
}

public enum DRIVE_WHEEL_TYPE {
RUBBER,
TIRE
}
public enum WHEEL_GRIP {
RUBBER_WHEEL_GRIP(1.25),
TIRE_WHEEL_GRIP(1.15);

private static double getWheelGripping(DRIVE_WHEEL_TYPE type) {
return switch (type) {
case RUBBER -> 1.25;
case TIRE -> 1.15;
};
public final double grip;
WHEEL_GRIP(double grip){
this.grip = grip;
}
}

/**
Expand All @@ -651,7 +649,7 @@ public static Supplier<SwerveModuleSimulation> getMark4(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -669,7 +667,7 @@ public static Supplier<SwerveModuleSimulation> getMark4(
12.8,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.03);
}
Expand All @@ -683,7 +681,7 @@ public static Supplier<SwerveModuleSimulation> getMark4i(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -701,7 +699,7 @@ public static Supplier<SwerveModuleSimulation> getMark4i(
150.0 / 7.0,
0.2,
1,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.025);
}
Expand All @@ -714,7 +712,7 @@ public static Supplier<SwerveModuleSimulation> getMark4n(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -731,7 +729,7 @@ public static Supplier<SwerveModuleSimulation> getMark4n(
18.75,
0.25,
1,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.025);
}
Expand All @@ -748,7 +746,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -771,7 +769,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX(
11.3142,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.03);
}
Expand All @@ -788,7 +786,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveXFlipped(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -811,7 +809,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveXFlipped(
11.3714,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.03);
}
Expand All @@ -827,7 +825,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveXS(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -847,7 +845,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveXS(
41.25,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(1.5),
0.03);
}
Expand All @@ -865,7 +863,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX2(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -891,7 +889,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX2(
12.1,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(2),
0.03);
}
Expand All @@ -908,7 +906,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX2S(
DCMotor driveMotor,
DCMotor steerMotor,
double driveCurrentLimitAmps,
DRIVE_WHEEL_TYPE driveWheelType,
WHEEL_GRIP driveWheelType,
int gearRatioLevel) {
return () ->
new SwerveModuleSimulation(
Expand All @@ -931,7 +929,7 @@ public static Supplier<SwerveModuleSimulation> getSwerveX2S(
25.9,
0.2,
0.3,
getWheelGripping(driveWheelType),
driveWheelType.grip,
Units.inchesToMeters(1.875),
0.03);
}
Expand Down