commit be03dd3ac0f8a3ebc44e3ff94d517f2bafdbf228
author Nikolai Sohmers <nikolai@sohmers.com> Sat Jun 15 18:05:24 2024 -0500
committer Niko Sohmers <nikolai@sohmers.com> Sat Jun 22 13:43:27 2024 -0700
tree 4cb48e5d2966efd5093c7eae37ec7a08ab8d01f7
parent 2aa57fc84ca82b807ef62f07bbb98850283eef95

Use PopulateSwerveModuleRotation Function in Swerve Control Loops

Signed-off-by: Nikolai Sohmers <nikolai@sohmers.com>
Change-Id: Ic2ea708aa512461e85e73f61d5203ee95c126a29

frc971/control_loops/swerve/swerve_control_loops.cc

diff --git a/frc971/control_loops/swerve/swerve_control_loops.cc b/frc971/control_loops/swerve/swerve_control_loops.cc
index 4689e55..bd0d3bd 100644
--- a/frc971/control_loops/swerve/swerve_control_loops.cc
+++ b/frc971/control_loops/swerve/swerve_control_loops.cc
@@ -44,24 +44,16 @@
     StatusStatic *status = status_builder->get();
 
     auto front_left_status = status->add_front_left_status();
-    front_left_status->set_goal_translation_speed(0);
-    front_left_status->set_translation_speed(0);
-    front_left_status->add_rotation();
+    PopulateSwerveModuleRotation(front_left_status);
 
     auto front_right_status = status->add_front_right_status();
-    front_right_status->set_goal_translation_speed(0);
-    front_right_status->set_translation_speed(0);
-    front_right_status->add_rotation();
+    PopulateSwerveModuleRotation(front_right_status);
 
     auto back_left_status = status->add_back_left_status();
-    back_left_status->set_goal_translation_speed(0);
-    back_left_status->set_translation_speed(0);
-    back_left_status->add_rotation();
+    PopulateSwerveModuleRotation(back_left_status);
 
     auto back_right_status = status->add_back_right_status();
-    back_right_status->set_goal_translation_speed(0);
-    back_right_status->set_translation_speed(0);
-    back_right_status->add_rotation();
+    PopulateSwerveModuleRotation(back_right_status);
 
     // Ignore the return value of Send
     status_builder->CheckOk(status_builder->Send());