Exposed DriveComponent motors for easier access to individual motor p…

…roperties
amarcolini · Apr 17, 2022 · 1a43169 · 1a43169
1 parent d0b8207
commit 1a43169
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/command/src/main/kotlin/com/amarcolini/joos/hardware/MotorGroup.kt b/command/src/main/kotlin/com/amarcolini/joos/hardware/MotorGroup.kt
@@ -10,7 +10,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap
 /**
  * A class that runs multiple motors together as a unit.
  */
-class MotorGroup(private vararg val motors: Motor) : Component {
+class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * Constructs a motor group out of several motor groups.
      */

diff --git a/command/src/main/kotlin/com/amarcolini/joos/hardware/drive/DiffSwerveDrive.kt b/command/src/main/kotlin/com/amarcolini/joos/hardware/drive/DiffSwerveDrive.kt
@@ -9,6 +9,7 @@ import com.amarcolini.joos.followers.TrajectoryFollower
 import com.amarcolini.joos.geometry.Pose2d
 import com.amarcolini.joos.hardware.Imu
 import com.amarcolini.joos.hardware.Motor
+import com.amarcolini.joos.hardware.MotorGroup
 import com.amarcolini.joos.kinematics.DiffSwerveKinematics
 import com.amarcolini.joos.localization.DiffSwerveLocalizer
 import com.amarcolini.joos.localization.Localizer
@@ -40,6 +41,12 @@ open class DiffSwerveDrive(
 
     private val gears = listOf(leftModule.first, leftModule.second, rightModule.first, rightModule.second)
 
+    /**
+     * All the motors in this drive.
+     */
+    @JvmField
+    val motors: MotorGroup = MotorGroup(leftModule.first, leftModule.second, rightModule.first, rightModule.second)
+
     override val trajectoryFollower: TrajectoryFollower = HolonomicPIDVAFollower(
         translationalPID, translationalPID, headingPID, Pose2d(0.5, 0.5, 5.deg), 0.5
     )