comments and docs

Author: ReeledWarrior14

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

@@ -26,7 +26,7 @@
  */
 public final class Constants {
 
-  public static final double kFastPeriodicPeriod = 0.01;
+  public static final double kFastPeriodicPeriod = 0.01; // 100Hz, 10ms
 
   /**
    * Input/Output constants

src/main/java/frc/robot/RobotContainer.java

@@ -83,6 +83,14 @@ public Command getAutonomousCommand() {
     return null;
   }
 
+  /**
+   * This periodic loop runs every 10ms (100Hz)
+   * 
+   * <p>
+   * Should be used for any code that needs to be run more frequently than the
+   * default 20ms loop (50Hz) such as PID Controllers.
+   * </p>
+   */
   public void fastPeriodic() {
     m_robotDrive.fastPeriodic();
   }

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

@@ -101,18 +101,19 @@ public void periodic() {
     SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY());
 
     // AdvantageScope Logging
+    // max speed = 1 (for ease of use in AdvantageScope)
     double[] logData = {
-        m_frontLeft.getPosition().angle.getRadians(), m_frontLeft.driveOutput,
-        m_frontRight.getPosition().angle.getRadians(), m_frontRight.driveOutput,
-        m_rearLeft.getPosition().angle.getRadians(), m_rearLeft.driveOutput,
-        m_rearRight.getPosition().angle.getRadians(), m_rearRight.driveOutput,
+        m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput,
+        m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput,
+        m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput,
+        m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput,
     };
 
     double[] logDataDesired = {
-      m_desiredStates[0].angle.getDegrees(), m_desiredStates[0].speedMetersPerSecond,
-      m_desiredStates[1].angle.getDegrees(), m_desiredStates[1].speedMetersPerSecond,
-      m_desiredStates[2].angle.getDegrees(), m_desiredStates[2].speedMetersPerSecond,
-      m_desiredStates[3].angle.getDegrees(), m_desiredStates[3].speedMetersPerSecond,
+      m_desiredStates[0].angle.getDegrees(), m_desiredStates[0].speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond,
+      m_desiredStates[1].angle.getDegrees(), m_desiredStates[1].speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond,
+      m_desiredStates[2].angle.getDegrees(), m_desiredStates[2].speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond,
+      m_desiredStates[3].angle.getDegrees(), m_desiredStates[3].speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond,
     };
 
     SmartDashboard.putNumberArray("AdvantageScope Swerve Desired States", logDataDesired);
@@ -210,6 +211,7 @@ public void addVisionMeasurement(Pose2d pose, double timestamp) {
     m_poseEstimator.addVisionMeasurement(pose, timestamp);
   }
 
+  /** Sets the module states every 10ms (100Hz), faster than the regular periodic loop */
   public void fastPeriodic() {
     SwerveDriveKinematics.desaturateWheelSpeeds(
         m_desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);