Merge branch 'canivore'

src/main/java/frc/robot/Constants.java

@@ -31,6 +31,8 @@
 public final class Constants {
 
     public static final double stickDeadband = 0.1;
+
+    public static final String canBus_name = "canBus";
 
     public static final class IntakeArmConstants { // TODO: This must be tuned to specific robot
         // mm

src/main/java/frc/robot/Robot.java

@@ -4,7 +4,10 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.CANBus;
+
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.Utils.shuffleboardAlike.AutoContainer;
@@ -54,6 +57,7 @@ public void robotPeriodic() {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+    SmartDashboard.putNumber("canivor utilization", CANBus.getStatus(Constants.canBus_name).BusUtilization);
   }
 
   /** This function is called once each time the robot enters Disabled mode. */

src/main/java/frc/robot/subsystems/IntakeArmSubsystem.java

@@ -12,6 +12,8 @@
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
 import static frc.robot.Constants.IntakeArmConstants.*;
 
 import java.util.function.DoubleSupplier;
@@ -33,7 +35,7 @@ public static IntakeArmSubsystem getInstance() {
 
   /** Creates a new IntakeArmSubsystem. */
   private IntakeArmSubsystem() {
-    this.m_IntakeArmMotor = new TalonFX(IntakeArmMotorID);
+    this.m_IntakeArmMotor = new TalonFX(IntakeArmMotorID, Constants.canBus_name);
     TalonFXConfiguration configs = new TalonFXConfiguration();
     MotionMagicConfigs mm = new MotionMagicConfigs();
 

src/main/java/frc/robot/subsystems/ShooterArmSubsystem.java

@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.Utils.interpolation.InterpolateUtil;
+import frc.robot.Constants;
 
 import static frc.robot.Constants.ShooterArmConstants.*;
 
@@ -36,7 +37,7 @@ public static ShooterArmSubsystem getInstance() {
   }
 
   private ShooterArmSubsystem() {
-    this.m_shooterArmMotor = new TalonFX(ShooterArmID);
+    this.m_shooterArmMotor = new TalonFX(ShooterArmID, Constants.canBus_name);
     this.limitSwitch = new DigitalInput(SwitchID);
 
     // create the full MotionMagic

src/main/java/frc/robot/subsystems/ShooterSubsysem.java

@@ -15,6 +15,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.Utils.interpolation.InterpolateUtil;
 import frc.Utils.vision.Vision;
+import frc.robot.Constants;
 
 public class ShooterSubsysem extends SubsystemBase {
   private TalonFX m_shooterMotor;
@@ -34,7 +35,7 @@ public static ShooterSubsysem getInstance() {
   /** Creates a new ShooterSubsysem. */
   private ShooterSubsysem() {
     // giving values to the motors
-    this.m_shooterMotor = new TalonFX(kMotorShooterID);
+    this.m_shooterMotor = new TalonFX(kMotorShooterID, Constants.canBus_name);
 
     // declaring Configs
     TalonFXConfiguration configs = new TalonFXConfiguration();

src/main/java/frc/Utils/swerve/SwerveModule.java → src/main/java/frc/robot/subsystems/SwerveModule.java

@@ -1,4 +1,4 @@
-package frc.Utils.swerve;
+package frc.robot.subsystems;
 
 import static edu.wpi.first.units.Units.Volts;
 
@@ -21,6 +21,8 @@
 import frc.Utils.motors.CANSparkMaxUtil;
 import frc.Utils.motors.FalconConversions;
 import frc.Utils.motors.CANSparkMaxUtil.Usage;
+import frc.Utils.swerve.CTREModuleState;
+import frc.Utils.swerve.SwerveModuleConstants;
 import frc.robot.Constants;
 import frc.robot.Robot;
 
@@ -60,7 +62,7 @@ public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants){
         configAngleMotor();
 
         /* Drive Motor Config */
-        mDriveMotor = new TalonFX(moduleConstants.driveMotorID);
+        mDriveMotor = new TalonFX(moduleConstants.driveMotorID, Constants.canBus_name);
         configDriveMotor();
 
         lastAngle = getState().angle;

src/main/java/frc/robot/subsystems/SwerveSubsystem.java

@@ -1,6 +1,5 @@
 package frc.robot.subsystems;
 
-import frc.Utils.swerve.SwerveModule;
 import frc.Utils.vision.Vision;
 import frc.robot.Constants.Swerve.Mod0;
 import frc.robot.Constants.Swerve.Mod1;