BetterVetSwerve

Progress

• constants.py
• robot.py
• robotcontainer.py
• Commands
  • FCDrive.py
  • auto.py
  • bucketCommand.py
  • halveDriveSpeed.py
  • intakeCommand.py
• Subsystems
  • bucketSubsystem.py
  • intakeSubystem.py
  • state.py
  • swerveDrive.py
  • swerveModule.py

Git

• The main branch is only for 100% tested, working code
• Merging dev to main should require at least one other programmer to agree
• Don't make commits directly to dev either, make a branch (ex: eh_cleaning_up_subsystems) and then PULL FROM DEV and deal with CONFLICTS ON YOUR END
• Please use ruff (for now only on needed files until things are cleaned up) before making a pull request to merge your branch to dev
• After merge delete your branch

*---*---*---*---*---*---*---* main
                     \
                      *---*---*---* dev
                       \       \
                         \       *---*---* eh_feature-1
                           \          
                             *---*---* ny_feature-2

Documentation Example

def getHighestID(self, targets: list[PhotonTrackedTarget]) -> PhotonTrackedTarget:
  """
  Returns the target with the highest fiducial ID from the provided list of targets.
 
  Args:
    targets (list): A list of PhotonTrackedTarget objects to search through.

  Returns:
    PhotonTrackedTarget: The target with the highest fiducial ID.
  """

  bestTarget = targets[0]
  for target in targets:
    if target.getFiducialId() > bestTarget.getFiducialId():
      bestTarget = target
  return bestTarget

Ruff

https://github.com/astral-sh/ruff

Should be as easy as ruff check file.py

Example output

[ethanscharlie@ethanscharlie subsystems]$ ruff check swerveModule.py 
swerveModule.py:2:8: F401 [*] `wpilib` imported but unused
  |
1 | import math
2 | import wpilib
  |        ^^^^^^ F401
3 | import wpimath.kinematics
4 | import wpimath.geometry
  |
  = help: Remove unused import: `wpilib`

swerveModule.py:60:9: F841 Local variable `optimizedState` is assigned to but never used
   |
58 |         # Optimize the reference state to avoid spinning further than 90 degrees
59 |         state = desiredState
60 |         optimizedState = wpimath.kinematics.SwerveModuleState.optimize(
   |         ^^^^^^^^^^^^^^ F841
61 |             desiredState, encoderRotation
62 |         )
   |
   = help: Remove assignment to unused variable `optimizedState`

swerveModule.py:77:9: F841 Local variable `driveOutput` is assigned to but never used
   |
76 |         # Calculate the drive output from the drive PID controller.
77 |         driveOutput = state.speed
   |         ^^^^^^^^^^^ F841
78 | 
79 |         # # Calculate the turning motor output from the turning PID controller.
   |
   = help: Remove assignment to unused variable `driveOutput`

Found 3 errors.
[*] 1 fixable with the `--fix` option (2 hidden fixes can be enabled with the `--unsafe-fixes` option).