Update member names

Author: jfabellera

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -20,14 +20,14 @@
 import frc.robot.Configs;
 
 public class MAXSwerveModule {
-  private final SparkMax m_drivingSparkMax;
-  private final SparkMax m_turningSparkMax;
+  private final SparkMax m_drivingSpark;
+  private final SparkMax m_turningSpark;
 
   private final RelativeEncoder m_drivingEncoder;
   private final AbsoluteEncoder m_turningEncoder;
 
-  private final SparkClosedLoopController m_drivingPIDController;
-  private final SparkClosedLoopController m_turningPIDController;
+  private final SparkClosedLoopController m_drivingClosedLoopController;
+  private final SparkClosedLoopController m_turningClosedLoopController;
 
   private double m_chassisAngularOffset = 0;
   private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
@@ -39,21 +39,21 @@ public class MAXSwerveModule {
    * Encoder.
    */
   public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
-    m_drivingSparkMax = new SparkMax(drivingCANId, MotorType.kBrushless);
-    m_turningSparkMax = new SparkMax(turningCANId, MotorType.kBrushless);
+    m_drivingSpark = new SparkMax(drivingCANId, MotorType.kBrushless);
+    m_turningSpark = new SparkMax(turningCANId, MotorType.kBrushless);
 
-    m_drivingEncoder = m_drivingSparkMax.getEncoder();
-    m_turningEncoder = m_turningSparkMax.getAbsoluteEncoder();
+    m_drivingEncoder = m_drivingSpark.getEncoder();
+    m_turningEncoder = m_turningSpark.getAbsoluteEncoder();
 
-    m_drivingPIDController = m_drivingSparkMax.getClosedLoopController();
-    m_turningPIDController = m_turningSparkMax.getClosedLoopController();
+    m_drivingClosedLoopController = m_drivingSpark.getClosedLoopController();
+    m_turningClosedLoopController = m_turningSpark.getClosedLoopController();
 
     // Apply the respective configurations to the SPARKS. Reset parameters before
     // applying the configuration to bring the SPARK to a known good state. Persist
     // the settings to the SPARK to avoid losing them on a power cycle.
-    m_drivingSparkMax.configure(Configs.MAXSwerveModule.drivingConfig, ResetMode.kResetSafeParameters,
+    m_drivingSpark.configure(Configs.MAXSwerveModule.drivingConfig, ResetMode.kResetSafeParameters,
         PersistMode.kPersistParameters);
-    m_turningSparkMax.configure(Configs.MAXSwerveModule.turningConfig, ResetMode.kResetSafeParameters,
+    m_turningSpark.configure(Configs.MAXSwerveModule.turningConfig, ResetMode.kResetSafeParameters,
         PersistMode.kPersistParameters);
 
     m_chassisAngularOffset = chassisAngularOffset;
@@ -100,9 +100,9 @@ public void setDesiredState(SwerveModuleState desiredState) {
     // Optimize the reference state to avoid spinning further than 90 degrees.
     correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
 
-    // Command driving and turning SPARKS MAX towards their respective setpoints.
-    m_drivingPIDController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
-    m_turningPIDController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
+    // Command driving and turning SPARKS towards their respective setpoints.
+    m_drivingClosedLoopController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
+    m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
 
     m_desiredState = desiredState;
   }