constants tweaks

Author: dabeycorn

src/main/java/org/frc6423/frc2025/Constants.java

@@ -13,6 +13,9 @@
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import org.frc6423.frc2025.util.swerveUtil.ModuleConfig;
 import org.frc6423.frc2025.util.swerveUtil.ModuleConfig.moduleType;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+
 import org.frc6423.frc2025.util.swerveUtil.SwerveConfig;
 
 /** A class */
@@ -64,6 +67,10 @@ public static DeployMode getDeployMode() {
 
   // * SUBSYSTEM CONSTANTS
   public class KDriveConstants {
+
+    private static final TalonFXConfiguration kPivotMotorConfig = new TalonFXConfiguration()
+      .
+
     // Swerve Configs
     public static final SwerveConfig kDevBotConfig =
         new SwerveConfig(

src/main/java/org/frc6423/frc2025/subsystems/swerve/module/ModuleIO.java

@@ -52,5 +52,6 @@ public class ModuleIOInputs {
   public default void stop() {
     setPivotVolts(0);
     setDriveVolts(0);
-  };
-}
+  }
+  ;
+}

src/main/java/org/frc6423/frc2025/subsystems/swerve/module/ModuleIOSim.java

@@ -8,6 +8,11 @@
 
 import static org.frc6423.frc2025.Constants.KDriveConstants.*;
 
+import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.sim.ChassisReference;
+import com.ctre.phoenix6.sim.TalonFXSimState;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -16,12 +21,6 @@
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import org.frc6423.frc2025.util.swerveUtil.ModuleConfig;
 
-import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC;
-import com.ctre.phoenix6.controls.VoltageOut;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.sim.ChassisReference;
-import com.ctre.phoenix6.sim.TalonFXSimState;
-
 public class ModuleIOSim implements ModuleIO {
   private final DCMotorSim m_pivotSim, m_driveSim;
   private final TalonFX m_driveMotor;
@@ -76,23 +75,21 @@ public void periodic() {
     driveSimState.Orientation = ChassisReference.Clockwise_Positive;
 
     m_driveSim.setInput(driveSimState.getMotorVoltage());
-      
+
     m_pivotSim.update(0.02);
     m_driveSim.update(0.02);
-    driveSimState.setRotorVelocity(
-      (m_driveSim.getAngularVelocityRPM() / 60) * kDriveReduction
-    );
+    driveSimState.setRotorVelocity((m_driveSim.getAngularVelocityRPM() / 60) * kDriveReduction);
   }
 
   @Override
   public void setPivotVolts(double volts) {
-    pivotAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); 
+    pivotAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
     m_pivotSim.setInputVoltage(pivotAppliedVolts);
   }
 
   @Override
   public void setDriveVolts(double volts) {
-    m_driveMotor.setControl(m_driveVoltage.withOutput(volts).withEnableFOC(true));    
+    m_driveMotor.setControl(m_driveVoltage.withOutput(volts).withEnableFOC(true));
   }
 
   @Override
@@ -104,7 +101,8 @@ public void setPivotAngle(Rotation2d angle) {
 
   @Override
   public void setDriveVelocity(double velMetersPerSec, double ff) {
-    m_driveMotor.setControl(m_driveVelocityControl.withVelocity(velMetersPerSec).withFeedForward(ff)); // !
+    m_driveMotor.setControl(
+        m_driveVelocityControl.withVelocity(velMetersPerSec).withFeedForward(ff)); // !
   }
 
   @Override

src/main/java/org/frc6423/frc2025/util/swerveUtil/ModuleConfig.java

@@ -6,6 +6,8 @@
 
 package org.frc6423.frc2025.util.swerveUtil;
 
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+
 import edu.wpi.first.math.geometry.Rotation2d;
 
 public class ModuleConfig {
@@ -19,11 +21,35 @@ public class ModuleConfig {
   public Rotation2d kPivotOffset;
   public boolean kPivotInverted;
 
+  public TalonFXConfiguration kPivotConfig, kDriveConfig;
+
   public static enum moduleType {
     SPARKMAX,
     TALONFX
   }
 
+  public ModuleConfig(
+      int index,
+      moduleType type,
+      int pivotID,
+      int driveID,
+      int pivotABSID,
+      Rotation2d pivotOffset,
+      boolean pivotInverted,
+      TalonFXConfiguration pivotConfig,
+      TalonFXConfiguration driveConfig) {
+    this.kIndex = index;
+    this.kModuletype = type;
+    this.kPivotID = pivotID;
+    this.kDriveID = driveID;
+    this.kPivotABSID = pivotABSID;
+    this.kPivotOffset = pivotOffset;
+    this.kPivotInverted = pivotInverted;
+
+    this.kPivotConfig = pivotConfig;
+    this.kDriveConfig = driveConfig;
+  }
+
   public ModuleConfig(
       int index,
       moduleType type,