refactor(swerve): Move modules to controllers.

src/main/java/frc/robot/swerve/SwerveModuleIO.java → src/main/java/frc/lib/controller/SwerveModuleIO.java

@@ -1,22 +1,22 @@
-package frc.robot.swerve;
+package frc.lib.controller;
 
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 
-/** Swerve module hardware interface. */
+/** Swerve module interface. */
 public interface SwerveModuleIO {
 
   /**
-   * Gets the state of the swerve module.
+   * Returns the swerve module state.
    *
-   * @return the state of the swerve module.
+   * @return the swerve module state.
    */
   public SwerveModuleState getState();
 
   /**
-   * Gets the setpoint of the swerve module.
+   * Returns the swerve module setpoint.
    *
-   * @return the setpoint of the swerve module.
+   * @return the swerve module setpoint.
    */
   public SwerveModuleState getSetpoint();
 
@@ -29,9 +29,9 @@ public interface SwerveModuleIO {
   public void setSetpoint(SwerveModuleState setpoint, boolean lazy);
 
   /**
-   * Gets the position of the swerve module.
+   * Returns the swerve module position.
    *
-   * @return the position of the swerve module.
+   * @return the swerve module position.
    */
   public SwerveModulePosition getPosition();
 }

src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java → src/main/java/frc/lib/controller/SwerveModuleIOCustom.java

@@ -1,15 +1,14 @@
-package frc.robot.swerve;
+package frc.lib.controller;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 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;
 import frc.lib.controller.VelocityControllerIO.VelocityControllerIOValues;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
+import frc.robot.swerve.SwerveFactory;
 
 /** Custom swerve module. */
 public class SwerveModuleIOCustom implements SwerveModuleIO {
@@ -65,7 +64,7 @@ public void setSetpoint(SwerveModuleState setpoint, boolean lazy) {
   }
 
   /**
-   * Optimizes a swerve module's setpoint.
+   * Optimizes a swerve module setpoint.
    *
    * @param setpoint the setpoint to optimize.
    * @param state the state of the module.

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

@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
+import frc.lib.controller.SwerveModuleIO;
 import frc.robot.RobotConstants;
 
 /** Swerve subsystem. */

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

@@ -8,6 +8,8 @@
 import frc.lib.controller.PositionControllerIO;
 import frc.lib.controller.PositionControllerIOSim;
 import frc.lib.controller.PositionControllerIOTalonFXSteer;
+import frc.lib.controller.SwerveModuleIO;
+import frc.lib.controller.SwerveModuleIOCustom;
 import frc.lib.controller.VelocityControllerIO;
 import frc.lib.controller.VelocityControllerIOSim;
 import frc.lib.controller.VelocityControllerIOTalonFXPIDF;
@@ -102,7 +104,7 @@ public static SwerveModuleIO createSouthWestModule() {
     return createModule(
         new CAN(10, "swerve"),
         new CAN(20, "swerve"),
-        new CAN(28, "drive"),
+        new CAN(28, "swerve"),
         Rotation2d.fromRotations(0.223145).unaryMinus());
   }