create and use SwerveConfig for robot-specific swerve parameters

src/main/java/com/team766/robot/common/SwerveConfig.java

@@ -0,0 +1,16 @@
+package com.team766.robot.common;
+
+import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
+
+/**
+ * Configuration for the Swerve Drive motors on this robot.
+ */
+// TODO: switch from Vector2D to WPILib's Translation2D.
+public record SwerveConfig(
+        String canBus,
+        Vector2D frontLeftLocation,
+        Vector2D frontRightLocation,
+        Vector2D backLeftLocation,
+        Vector2D backRightLocation,
+        double driveMotorCurentLimit,
+        double steerMotorCurrentLimit) {}

src/main/java/com/team766/robot/common/mechanisms/Drive.java

@@ -11,13 +11,15 @@
 import com.team766.odometry.Odometry;
 import com.team766.odometry.Point;
 import com.team766.odometry.PointDir;
+import com.team766.robot.common.SwerveConfig;
 import com.team766.robot.gatorade.constants.OdometryInputConstants;
-import com.team766.robot.gatorade.constants.SwerveDriveConstants;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
 
 public class Drive extends Mechanism {
 
+    private final SwerveConfig config;
+
     // SwerveModules
     private final SwerveModule swerveFR;
     private final SwerveModule swerveFL;
@@ -32,9 +34,11 @@ public class Drive extends Mechanism {
     // variable representing current position
     private static PointDir currentPosition;
 
-    public Drive() {
+    public Drive(SwerveConfig config) {
         loggerCategory = Category.DRIVE;
 
+        this.config = config;
+
         // create the drive motors
         MotorController driveFR = RobotProvider.instance.getMotor(DRIVE_DRIVE_FRONT_RIGHT);
         MotorController driveFL = RobotProvider.instance.getMotor(DRIVE_DRIVE_FRONT_LEFT);
@@ -48,10 +52,10 @@ public Drive() {
         MotorController steerBL = RobotProvider.instance.getMotor(DRIVE_STEER_BACK_LEFT);
 
         // create the encoders
-        CANcoder encoderFR = new CANcoder(2, SwerveDriveConstants.SWERVE_CANBUS);
-        CANcoder encoderFL = new CANcoder(4, SwerveDriveConstants.SWERVE_CANBUS);
-        CANcoder encoderBR = new CANcoder(3, SwerveDriveConstants.SWERVE_CANBUS);
-        CANcoder encoderBL = new CANcoder(1, SwerveDriveConstants.SWERVE_CANBUS);
+        CANcoder encoderFR = new CANcoder(2, config.canBus());
+        CANcoder encoderFL = new CANcoder(4, config.canBus());
+        CANcoder encoderBR = new CANcoder(3, config.canBus());
+        CANcoder encoderBL = new CANcoder(1, config.canBus());
 
         // initialize the swerve modules
         swerveFR = new SwerveModule("FR", driveFR, steerFR, encoderFR);
@@ -106,29 +110,12 @@ public void controlRobotOriented(double x, double y, double turn) {
         // Finds the vectors for turning and for translation of each module, and adds them
         // Applies this for each module
         swerveFL.driveAndSteer(
-                new Vector2D(x, y)
-                        .add(
-                                turn,
-                                new Vector2D(SwerveDriveConstants.FL_Y, SwerveDriveConstants.FL_X)
-                                        .normalize()));
+                new Vector2D(x, y).add(turn, config.frontLeftLocation().normalize()));
         swerveFR.driveAndSteer(
-                new Vector2D(x, y)
-                        .add(
-                                turn,
-                                new Vector2D(SwerveDriveConstants.FR_Y, SwerveDriveConstants.FR_X)
-                                        .normalize()));
+                new Vector2D(x, y).add(turn, config.frontRightLocation().normalize()));
         swerveBR.driveAndSteer(
-                new Vector2D(x, y)
-                        .add(
-                                turn,
-                                new Vector2D(SwerveDriveConstants.BR_Y, SwerveDriveConstants.BR_X)
-                                        .normalize()));
-        swerveBL.driveAndSteer(
-                new Vector2D(x, y)
-                        .add(
-                                turn,
-                                new Vector2D(SwerveDriveConstants.BL_Y, SwerveDriveConstants.BL_X)
-                                        .normalize()));
+                new Vector2D(x, y).add(turn, config.backRightLocation().normalize()));
+        swerveBL.driveAndSteer(new Vector2D(x, y).add(turn, config.backLeftLocation().normalize()));
     }
 
     /**
@@ -167,10 +154,17 @@ public void stopDrive() {
     public void setCross() {
         checkContextOwnership();
 
-        swerveFL.steer(new Vector2D(SwerveDriveConstants.FL_Y, -SwerveDriveConstants.FL_X));
-        swerveFR.steer(new Vector2D(SwerveDriveConstants.FR_Y, -SwerveDriveConstants.FR_X));
-        swerveBL.steer(new Vector2D(SwerveDriveConstants.BL_Y, -SwerveDriveConstants.BL_X));
-        swerveBR.steer(new Vector2D(SwerveDriveConstants.BR_Y, -SwerveDriveConstants.BR_X));
+        swerveFL.steer(
+                new Vector2D(
+                        config.frontLeftLocation().getY(), -config.frontLeftLocation().getX()));
+        swerveFL.steer(
+                new Vector2D(
+                        config.frontRightLocation().getY(), -config.frontRightLocation().getX()));
+        swerveFL.steer(
+                new Vector2D(config.backLeftLocation().getY(), -config.backLeftLocation().getX()));
+        swerveFL.steer(
+                new Vector2D(
+                        config.backRightLocation().getY(), -config.backRightLocation().getX()));
     }
 
     public void resetGyro() {

src/main/java/com/team766/robot/gatorade/Robot.java

@@ -3,8 +3,11 @@
 import com.team766.framework.AutonomousMode;
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
+import com.team766.robot.common.SwerveConfig;
 import com.team766.robot.common.mechanisms.Drive;
+import com.team766.robot.gatorade.constants.SwerveDriveConstants;
 import com.team766.robot.gatorade.mechanisms.*;
+import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
 
 public class Robot implements RobotConfigurator {
     // Declare mechanisms (as static fields) here
@@ -17,11 +20,20 @@ public class Robot implements RobotConfigurator {
 
     @Override
     public void initializeMechanisms() {
+        SwerveConfig config =
+                new SwerveConfig(
+                        SwerveDriveConstants.SWERVE_CANBUS,
+                        new Vector2D(SwerveDriveConstants.FL_X, SwerveDriveConstants.FL_Y),
+                        new Vector2D(SwerveDriveConstants.FR_X, SwerveDriveConstants.FR_Y),
+                        new Vector2D(SwerveDriveConstants.BL_X, SwerveDriveConstants.BL_Y),
+                        new Vector2D(SwerveDriveConstants.BR_X, SwerveDriveConstants.BR_Y),
+                        SwerveDriveConstants.DRIVE_MOTOR_CURRENT_LIMIT,
+                        SwerveDriveConstants.STEER_MOTOR_CURRENT_LIMIT);
         intake = new Intake();
         wrist = new Wrist();
         elevator = new Elevator();
         shoulder = new Shoulder();
-        drive = new Drive();
+        drive = new Drive(config);
         lights = new Lights();
     }