refactor(swerve): Do away with module config.

src/main/java/frc/robot/auto/Auto.java

@@ -15,6 +15,7 @@
 import frc.robot.superstructure.Superstructure;
 import frc.robot.swerve.Swerve;
 import frc.robot.swerve.SwerveConstants;
+import frc.robot.swerve.SwerveFactory;
 
 /** Auto subsystem. */
 public class Auto extends Subsystem {
@@ -49,7 +50,7 @@ private Auto() {
             new PIDConstants(1.0),
             new PIDConstants(1.0),
             SwerveConstants.MAXIMUM_SPEED,
-            SwerveConstants.NORTH_EAST_MODULE_CONFIG.position().getNorm(),
+            SwerveFactory.createNorthEastModuleTranslation().getNorm(), // TODO
             new ReplanningConfig()),
         AllianceFlipHelper::shouldFlip,
         swerve);

src/main/java/frc/robot/swerve/Swerve.java

@@ -27,17 +27,17 @@ public class Swerve extends Subsystem {
 
   /** Initializes the swerve subsystem and configures swerve hardware. */
   private Swerve() {
-    swerveModules[0] = SwerveFactory.createModule(SwerveConstants.NORTH_WEST_MODULE_CONFIG);
-    swerveModules[1] = SwerveFactory.createModule(SwerveConstants.NORTH_EAST_MODULE_CONFIG);
-    swerveModules[2] = SwerveFactory.createModule(SwerveConstants.SOUTH_EAST_MODULE_CONFIG);
-    swerveModules[3] = SwerveFactory.createModule(SwerveConstants.SOUTH_WEST_MODULE_CONFIG);
+    swerveModules[0] = SwerveFactory.createNorthWestModule();
+    swerveModules[1] = SwerveFactory.createNorthEastModule();
+    swerveModules[2] = SwerveFactory.createSouthEastModule();
+    swerveModules[3] = SwerveFactory.createSouthWestModule();
 
     swerveKinematics =
         new SwerveDriveKinematics(
-            SwerveConstants.NORTH_WEST_MODULE_CONFIG.position(),
-            SwerveConstants.NORTH_EAST_MODULE_CONFIG.position(),
-            SwerveConstants.SOUTH_EAST_MODULE_CONFIG.position(),
-            SwerveConstants.SOUTH_WEST_MODULE_CONFIG.position());
+            SwerveFactory.createNorthWestModuleTranslation(),
+            SwerveFactory.createNorthEastModuleTranslation(),
+            SwerveFactory.createSouthEastModuleTranslation(),
+            SwerveFactory.createSouthWestModuleTranslation());
   }
 
   /**

src/main/java/frc/robot/swerve/SwerveConstants.java

@@ -1,7 +1,6 @@
 package frc.robot.swerve;
 
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 import frc.lib.config.FeedbackControllerConfig;
 import frc.lib.config.FeedforwardControllerConfig;
@@ -32,37 +31,6 @@ public static class MK4iConstants {
   /** Module Y offset in meters. */
   public static final double Y_OFFSET = Units.inchesToMeters(10.375);
 
-  /** Swerve's CAN bus. */
-  public static final String SWERVE_BUS = "swerve";
-
-  /** Module configuration for the north west swerve module. */
-  public static final SwerveModuleConfig NORTH_WEST_MODULE_CONFIG =
-      new SwerveModuleConfig(
-          new SwerveModuleCAN(16, 8, 24, SWERVE_BUS),
-          new Translation2d(X_OFFSET, Y_OFFSET),
-          Rotation2d.fromRotations(-0.084717).unaryMinus());
-
-  /** Module configuration for the north east swerve module. */
-  public static final SwerveModuleConfig NORTH_EAST_MODULE_CONFIG =
-      new SwerveModuleConfig(
-          new SwerveModuleCAN(18, 16, 30, SWERVE_BUS),
-          new Translation2d(X_OFFSET, -Y_OFFSET),
-          Rotation2d.fromRotations(0.196777).unaryMinus());
-
-  /** Module configuration for the south east swerve module. */
-  public static final SwerveModuleConfig SOUTH_EAST_MODULE_CONFIG =
-      new SwerveModuleConfig(
-          new SwerveModuleCAN(22, 12, 26, SWERVE_BUS),
-          new Translation2d(-X_OFFSET, -Y_OFFSET),
-          Rotation2d.fromRotations(0.276611).unaryMinus());
-
-  /** Module configuration for the south west swerve module. */
-  public static final SwerveModuleConfig SOUTH_WEST_MODULE_CONFIG =
-      new SwerveModuleConfig(
-          new SwerveModuleCAN(20, 10, 28, SWERVE_BUS),
-          new Translation2d(-X_OFFSET, Y_OFFSET),
-          Rotation2d.fromRotations(-0.276855).plus(Rotation2d.fromDegrees(180)).unaryMinus());
-
   /** Maximum speed in meters per second. */
   public static final double MAXIMUM_SPEED = 4.5;
 

src/main/java/frc/robot/swerve/SwerveFactory.java

@@ -1,6 +1,8 @@
 package frc.robot.swerve;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
 import frc.lib.config.AbsoluteEncoderConfig;
 import frc.lib.controller.PositionControllerIO;
@@ -13,16 +15,104 @@
 import frc.robot.RobotConstants;
 import frc.robot.RobotConstants.Subsystem;
 
-/** Helper class for creating hardware for the swerve subsystem. */
+/** Factory for creating swerve subsystem hardware. */
 public class SwerveFactory {
 
   /**
    * Creates a swerve module.
    *
    * @return a swerve module.
    */
-  public static SwerveModuleIO createModule(SwerveModuleConfig config) {
-    return new SwerveModuleIOCustom(config);
+  private static SwerveModuleIO createModule(CAN steer, CAN azimuth, CAN drive, Rotation2d offset) {
+    return new SwerveModuleIOCustom(steer, azimuth, drive, offset);
+  }
+
+  /**
+   * creates the north west swerve module.
+   *
+   * @return the north west swerve module.
+   */
+  public static SwerveModuleIO createNorthWestModule() {
+    return createModule(
+        new CAN(8, "swerve"),
+        new CAN(16, "swerve"),
+        new CAN(24, "swerve"),
+        Rotation2d.fromRotations(-0.084717).unaryMinus());
+  }
+
+  /**
+   * Creates the north west swerve module translation.
+   *
+   * @return the north west swerve module translation.
+   */
+  public static Translation2d createNorthWestModuleTranslation() {
+    return new Translation2d(Units.inchesToMeters(10.375), Units.inchesToMeters(10.375));
+  }
+
+  /**
+   * creates the north east swerve module.
+   *
+   * @return the north east swerve module.
+   */
+  public static SwerveModuleIO createNorthEastModule() {
+    return createModule(
+        new CAN(16, "swerve"),
+        new CAN(18, "swerve"),
+        new CAN(30, "swerve"),
+        Rotation2d.fromRotations(0.196777).unaryMinus());
+  }
+
+  /**
+   * Creates the north east swerve module translation.
+   *
+   * @return the north east swerve module translation.
+   */
+  public static Translation2d createNorthEastModuleTranslation() {
+    return new Translation2d(Units.inchesToMeters(10.375), Units.inchesToMeters(-10.375));
+  }
+
+  /**
+   * creates the south east swerve module.
+   *
+   * @return the south east swerve module.
+   */
+  public static SwerveModuleIO createSouthEastModule() {
+    return createModule(
+        new CAN(12, "swerve"),
+        new CAN(22, "swerve"),
+        new CAN(26, "swerve"),
+        Rotation2d.fromRotations(0.276611).unaryMinus());
+  }
+
+  /**
+   * Creates the south east swerve module translation.
+   *
+   * @return the south east swerve module translation.
+   */
+  public static Translation2d createSouthEastModuleTranslation() {
+    return new Translation2d(Units.inchesToMeters(-10.375), Units.inchesToMeters(-10.375));
+  }
+
+  /**
+   * creates the south west swerve module.
+   *
+   * @return the south west swerve module.
+   */
+  public static SwerveModuleIO createSouthWestModule() {
+    return createModule(
+        new CAN(10, "swerve"),
+        new CAN(20, "swerve"),
+        new CAN(28, "drive"),
+        Rotation2d.fromRotations(0.223145).unaryMinus());
+  }
+
+  /**
+   * Creates the south west swerve module translation.
+   *
+   * @return the south west swerve module translation.
+   */
+  public static Translation2d createSouthWestModuleTranslation() {
+    return new Translation2d(Units.inchesToMeters(-10.375), Units.inchesToMeters(10.375));
   }
 
   /**
@@ -49,8 +139,7 @@ public static PositionControllerIO createSteerMotor(CAN steer, CAN azimuth, Rota
    */
   public static VelocityControllerIO createDriveMotor(CAN drive) {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SWERVE))
-      return new VelocityControllerIOTalonFXPIDF(
-          drive, SwerveConstants.DRIVE_CONFIG, false);
+      return new VelocityControllerIOTalonFXPIDF(drive, SwerveConstants.DRIVE_CONFIG, false);
 
     return new VelocityControllerIOSim();
   }

src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java

@@ -4,6 +4,7 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
+import frc.lib.CAN;
 import frc.lib.controller.PositionControllerIO;
 import frc.lib.controller.PositionControllerIO.PositionControllerIOValues;
 import frc.lib.controller.VelocityControllerIO;
@@ -28,16 +29,11 @@ public class SwerveModuleIOCustom implements SwerveModuleIO {
   /** Module setpoint */
   private SwerveModuleState setpoint;
 
-  /**
-   * Creates a custom swerve module.
-   *
-   * @param config the swerve module's configuration.
-   */
-  public SwerveModuleIOCustom(SwerveModuleConfig config) {
-    steerMotor = SwerveFactory.createSteerMotor(config.moduleCAN().steer(), config.moduleCAN().azimuth(), config.offset());
+  public SwerveModuleIOCustom(CAN steer, CAN azimuth, CAN drive, Rotation2d offset) {
+    steerMotor = SwerveFactory.createSteerMotor(steer, azimuth, offset);
     steerMotor.configure();
 
-    driveMotor = SwerveFactory.createDriveMotor(config.moduleCAN().drive());
+    driveMotor = SwerveFactory.createDriveMotor(drive);
     driveMotor.configure();
 
     setpoint = new SwerveModuleState();