Merge pull request #92 from strykeforce/swerve-zero-fail

Log error but don't throw exception when azimuth zero data missing

Author: jhh

build.gradle

@@ -11,7 +11,7 @@ plugins {
 }
 
 group = "org.strykeforce"
-version = "22.0.0"
+version = "22.0.1"
 
 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11
@@ -69,7 +69,7 @@ dependencies {
 
     testImplementation wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
 
-    implementation 'org.slf4j:slf4j-api:1.7.32'
+    implementation 'org.slf4j:slf4j-api:1.7.33'
     implementation 'io.github.microutils:kotlin-logging:2.1.21'
     implementation 'com.squareup.okhttp3:okhttp:4.9.3'
     implementation "org.jetbrains.kotlinx:kotlinx-html-jvm:0.7.3"

src/main/java/org/strykeforce/swerve/TalonSwerveModule.java

@@ -127,7 +127,6 @@ public void loadAndSetAzimuthZeroReference() {
     int reference = Preferences.getInt(key, Integer.MIN_VALUE);
     if (reference == Integer.MIN_VALUE) {
       logger.error("no saved azimuth zero reference for swerve module {}", index);
-      throw new IllegalStateException();
     }
     logger.info("swerve module {}: loaded azimuth zero reference = {}", index, reference);
 

src/test/java/org/strykeforce/swerve/TalonSwerveModuleTest.java

@@ -166,20 +166,6 @@ void shouldSetAzimuthZero(int absoluteEncoderPosition, int zeroReference, double
       verify(azimuthTalon).setSelectedSensorPosition(setpoint, 0, 10);
     }
 
-    @Test
-    @DisplayName("should throw exception if no NetworkTables reference")
-    void shouldThrowExceptionIfNoNetworkTablesReference() {
-      int index = 0; // fixture wheel is LF
-      String key = String.format("SwerveDrive/wheel.%d", index);
-      Preferences.remove(key);
-      int reference = Preferences.getInt(key, Integer.MIN_VALUE);
-      assertEquals(Integer.MIN_VALUE, reference);
-
-      when(sensorCollection.getPulseWidthPosition()).thenReturn(0);
-      when(azimuthTalon.setSelectedSensorPosition(anyDouble(), anyInt(), anyInt()))
-          .thenReturn(ErrorCode.valueOf(0));
-      assertThrows(IllegalStateException.class, module::loadAndSetAzimuthZeroReference);
-    }
   }
 
   /*