Clean up C++ changes

cpp/ArcadeDrive/src/main/cpp/Robot.cpp

@@ -20,13 +20,6 @@ void Robot::RobotInit() {
   leftFollower.GetConfigurator().Apply(leftConfiguration);
   rightLeader.GetConfigurator().Apply(rightConfiguration);
   rightFollower.GetConfigurator().Apply(rightConfiguration);
-
-  /* Currently in simulation, we do not support FOC, so disable it while simulating */
-  if (utils::IsSimulation())
-  {
-    leftOut.EnableFOC = false;
-    rightOut.EnableFOC = false;
-  }
 
   /* Set up followers to follow leaders */
   leftFollower.SetControl(controls::Follower{leftLeader.GetDeviceID(), false});

cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp

@@ -32,12 +32,6 @@ DriveSubsystem::DriveSubsystem()
     /* Set the update frequency of the main requests to 0 so updates are sent immediately in the arcadeDrive method */
     m_leftOut.UpdateFreqHz = 0_Hz;
     m_rightOut.UpdateFreqHz = 0_Hz;
-
-    /* Currently in simulation, we do not support FOC, so disable it while simulating */
-    if (utils::IsSimulation()) {
-        m_leftOut.EnableFOC = false;
-        m_rightOut.EnableFOC = false;
-    }
 
     /*
      * Set the orientation of the simulated TalonFX devices relative to the robot chassis.
@@ -170,44 +164,40 @@ void DriveSubsystem::SimulationPeriodic()
 
 units::meter_t DriveSubsystem::rotationsToMeters(units::turn_t rotations)
 {
-    /* Get circumference of wheel */
-    constexpr auto circumference = kWheelRadiusInches / 1_rad;
-    /* Every rotation of the wheel travels this many inches */
+    /* Every radian of rotation, the wheel travels this many inches */
+    constexpr auto wheelDistancePerRad = kWheelRadiusInches / 1_rad;
     /* Now apply gear ratio to input rotations */
     auto gearedRotations = rotations / kGearRatio;
     /* And multiply geared rotations by meters per rotation */
-    return gearedRotations * circumference;
+    return gearedRotations * wheelDistancePerRad;
 }
 
 units::turn_t DriveSubsystem::metersToRotations(units::meter_t meters)
 {
-    /* Get circumference of wheel */
-    constexpr auto circumference = kWheelRadiusInches / 1_rad;
-    /* Every rotation of the wheel travels this many inches */
-    /* Now apply wheel rotations to input meters */
-    auto wheelRotations = meters / circumference;
+    /* Every radian of rotation, the wheel travels this many inches */
+    constexpr auto wheelDistancePerRad = kWheelRadiusInches / 1_rad;
+    /* Now get wheel rotations from input meters */
+    auto wheelRadians = meters / wheelDistancePerRad;
     /* And multiply by gear ratio to get rotor rotations */
-    return wheelRotations * kGearRatio;
+    return wheelRadians * kGearRatio;
 }
 
 units::meters_per_second_t DriveSubsystem::rotationsToMetersVel(units::turns_per_second_t rotations)
 {
-    /* Get circumference of wheel */
-    constexpr auto circumference = kWheelRadiusInches / 1_rad;
-    /* Every rotation of the wheel travels this many inches */
+    /* Every radian of rotation, the wheel travels this many inches */
+    constexpr auto wheelDistancePerRad = kWheelRadiusInches / 1_rad;
     /* Now apply gear ratio to input rotations */
     auto gearedRotations = rotations / kGearRatio;
     /* And multiply geared rotations by meters per rotation */
-    return gearedRotations * circumference;
+    return gearedRotations * wheelDistancePerRad;
 }
 
 units::turns_per_second_t DriveSubsystem::metersToRotationsVel(units::meters_per_second_t meters)
 {
-    /* Get circumference of wheel */
-    constexpr auto circumference = kWheelRadiusInches / 1_rad;
-    /* Every rotation of the wheel travels this many inches */
-    /* Now apply wheel rotations to input meters */
-    auto wheelRotations = meters / circumference;
+    /* Every radian of rotation, the wheel travels this many inches */
+    constexpr auto wheelDistancePerRad = kWheelRadiusInches / 1_rad;
+    /* Now get wheel rotations from input meters */
+    auto wheelRadians = meters / wheelDistancePerRad;
     /* And multiply by gear ratio to get rotor rotations */
-    return wheelRotations * kGearRatio;
+    return wheelRadians * kGearRatio;
 }

cpp/CurrentLimits/src/main/cpp/Robot.cpp

@@ -10,9 +10,9 @@ using namespace ctre::phoenix6;
 void Robot::RobotInit() {
   /* Configure the Talon to use a supply limit of 60 amps IF we exceed 80 amps for over 0.1 seconds */
   configs::TalonFXConfiguration toConfigure{};
-  m_currentLimits.SupplyCurrentLimit = 80_A; // Default limit of 80 A
-  m_currentLimits.SupplyCurrentLowerLimit = 40_A; // This is the limit if we've exceeded 80 A for more than 1 second
-  m_currentLimits.SupplyCurrentLowerTime = 1_s; // Threshold before activating lower limit
+  m_currentLimits.SupplyCurrentLimit = 70_A; // Default limit of 70 A
+  m_currentLimits.SupplyCurrentLowerLimit = 40_A; // Reduce the limit to 40 A if we've limited to 70 A...
+  m_currentLimits.SupplyCurrentLowerTime = 1_s; // ...for at least 1 second
   m_currentLimits.SupplyCurrentLimitEnable = true; // And enable it
 
   m_currentLimits.StatorCurrentLimit = 120_A; // Limit stator to 120 amps

cpp/MotionMagic/src/main/cpp/sim/SimProfile.cpp

@@ -7,13 +7,13 @@ units::second_t SimProfile::GetPeriod()
 {
     // set the start time if not yet running
     if (!_running) {
-        _lastTime = utils::GetCurrentTimeSeconds();
+        _lastTime = utils::GetCurrentTime();
         _running = true;
     }
 
-    double now = utils::GetCurrentTimeSeconds();
-    double period = now - _lastTime;
+    auto now = utils::GetCurrentTime();
+    auto period = now - _lastTime;
     _lastTime = now;
 
-    return units::second_t{period};
+    return period;
 }

cpp/MotionMagic/src/main/include/sim/SimProfile.h

@@ -6,7 +6,7 @@
  * Holds information about a simulated device.
  */
 class SimProfile {
-    double _lastTime;
+    units::second_t _lastTime;
     bool _running = false;
 
 public:

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

@@ -59,12 +59,6 @@ public void robotInit() {
 
     leftLeader.setSafetyEnabled(true);
     rightLeader.setSafetyEnabled(true);
-
-    /* Currently in simulation, we do not support FOC, so disable it while simulating */
-    if (Utils.isSimulation()){
-      leftOut.EnableFOC = false;
-      rightOut.EnableFOC = false;
-    }
   }
 
   @Override

java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -122,12 +122,6 @@ public DriveSubsystem() {
         m_leftOut.UpdateFreqHz = 0;
         m_rightOut.UpdateFreqHz = 0;
 
-        /* Currently in simulation, we do not support FOC, so disable it while simulating */
-        if (Utils.isSimulation()) {
-            m_leftOut.EnableFOC = false;
-            m_rightOut.EnableFOC = false;
-        }
-
         /*
          * Set the orientation of the simulated TalonFX devices relative to the robot chassis.
          * WPILib expects +V to be forward. Specify orientations to match that behavior.