From 7ecb1f0e99db94a3c8b9caf6c93e790aa73b04ef Mon Sep 17 00:00:00 2001
From: JetBluefan1 <jetbluefan01@gmail.com>
Date: Mon, 18 Nov 2024 16:53:39 -0500
Subject: [PATCH] Update src/main/java/frc/robot/Constants.java

---
 src/main/java/frc/robot/Constants.java                    | 5 +++--
 src/main/java/frc/robot/Robot.java                        | 4 +++-
 .../frc/robot/commands/drivebase/AbsoluteFieldDrive.java  | 8 ++++----
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index cb8c527..edd06d1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -28,7 +28,8 @@ public final class Constants {
   public static final Measure<Mass> ROBOT_MASS = Pounds.of(125);
   public static final Matter CHASSIS =
       new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS.in(Pounds));
-  public static final Measure<Time> LOOP_TIME = Seconds.of(0.13); // s, 20ms + 110ms sprk max velocity lag
+  public static final Measure<Time> LOOP_TIME =
+      Seconds.of(0.13); // s, 20ms + 110ms sprk max velocity lag
   public static final Measure<Velocity<Distance>> MAX_SPEED = FeetPerSecond.of(14.5);
 
   public static final class AutoConstants {
@@ -38,7 +39,7 @@ public static final class AutoConstants {
 
   public static final class DrivebaseConstants {
     // Hold time on motor brakes when disabled.
-    public static final double WHEEL_LOCK_TIME_SECS = 10; // seconds
+    public static final Measure<Time> WHEEL_LOCK_TIME_SECS = Seconds.of(10); // seconds
   }
 
   public static class OperatorConstants {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index a9b899f..70f3ad4 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -74,7 +76,7 @@ public void disabledInit() {
 
   @Override
   public void disabledPeriodic() {
-    if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME_SECS)) {
+    if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME_SECS.in(Seconds))) {
       m_robotContainer.setMotorBrake(false);
       disabledTimer.stop();
     }
diff --git a/src/main/java/frc/robot/commands/drivebase/AbsoluteFieldDrive.java b/src/main/java/frc/robot/commands/drivebase/AbsoluteFieldDrive.java
index f23d695..04d5183 100644
--- a/src/main/java/frc/robot/commands/drivebase/AbsoluteFieldDrive.java
+++ b/src/main/java/frc/robot/commands/drivebase/AbsoluteFieldDrive.java
@@ -4,6 +4,9 @@
 
 package frc.robot.commands.drivebase;
 
+import static edu.wpi.first.units.Units.Kilograms;
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -11,9 +14,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.subsystems.SwerveSubsystem;
-import static edu.wpi.first.units.Units.Pounds;
-import static edu.wpi.first.units.Units.Seconds;
-
 import java.util.List;
 import java.util.function.DoubleSupplier;
 import swervelib.SwerveController;
@@ -68,7 +68,7 @@ public void execute() {
             swerve.getFieldVelocity(),
             swerve.getPose(),
             Constants.LOOP_TIME.in(Seconds),
-            Constants.ROBOT_MASS.in(Pounds),
+            Constants.ROBOT_MASS.in(Kilograms),
             List.of(Constants.CHASSIS),
             swerve.getSwerveDriveConfiguration());
     SmartDashboard.putNumber("LimitedTranslation", translation.getX());