Diffy revamp

[turtle4831]

Revamps DifferentialSwerveModuleBase.java

[Mineinjava]

Hi!
thanks for this contribution. Can you send a video of it working?

This looks like a great contribution. Sorry that I missed it for so long.

[turtle4831]

We dismantled or diffy swerve after drop but I asked a local team who built one if I can borrow it ill send a video when I pick it up (it is only one module idk if thats fine)

[Mineinjava]

Or we can also have @Astr0clad who is more familiar with Diffy take a more thorough look at it.

[cmontigel]

At first glance, the kinematics seem more in line with a two-motor coaxial setup. I will take a second look tonight to verify this though.

[Mineinjava]

@Astr0clad any update?

[cmontigel]

I just wanted to follow up here...

@turtle4831 Are you still able to get a video of this? Based on my readthroughs, the kinematics seem more in line with coaxial than differential swerve.

[turtle4831]

the kinematics should be the same i only changed the way the modules get power, lowk mightve messed it up though

[cmontigel]

I think the part that is tripping me up most is this:

    motorSpeeds[0] = speed;
    motorSpeeds[1] = angle;

In differential swerve, you normally need to take a combination of the pod rotation speed and the wheel speed, but it appears that you are assigning one motor your wheel speed and the second motor the pod rotation speed. Maybe it works out in the end, but I'm not entirely sure ngl. Could you elaborate on the math/theory behind it, I could be wrong here.

Sidenote: @Mineinjava we should probably look at getting some unit tests set up for the different swerve kinematics classes.

[Mineinjava]

Unit tests for kinematic classes are definitely a good idea.

See also https://astr0clad.github.io/quail_docs/guides/math/#reverse-kinematics-differential-swerve

[turtle4831]

oh oops i didnt notice that, the commented code above that is what it shouldve been

[Fenghuang4]

@turtle4831 It is also quite common to return the module state through some function. You have speed set mutators, but nothing to return data.